CN113218870A - Crack microspur detection system of piezoelectric ceramic stack and working method - Google Patents
Crack microspur detection system of piezoelectric ceramic stack and working method Download PDFInfo
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- CN113218870A CN113218870A CN202110599882.8A CN202110599882A CN113218870A CN 113218870 A CN113218870 A CN 113218870A CN 202110599882 A CN202110599882 A CN 202110599882A CN 113218870 A CN113218870 A CN 113218870A
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Abstract
The invention discloses a crack microspur detection system of a piezoelectric ceramic stack, which comprises a base, wherein a horizontal fixed platform is supported and arranged above the base through a support piece, the piezoelectric ceramic stack formed by overlapping a plurality of horizontal annular piezoelectric ceramic pieces is placed on the fixed platform, and the crack microspur detection system also comprises an automatic microspur crack detection mechanism, wherein the automatic microspur crack detection mechanism can be used for gradually detecting each annular piezoelectric ceramic piece on the piezoelectric ceramic stack; the scheme of the invention can realize local microspur detection, and can obtain a crack detection mechanism of a whole image on the result, thus finishing a high-definition shooting task under the condition of lower arrangement of a microspur camera.
Description
Technical Field
The invention belongs to the field of crack detection robots.
Background
The annular laminated piezoelectric ceramic is a common piezoelectric ceramic structure and has the advantages of small volume, light weight, high corresponding speed and the like; the piezoelectric ceramic structure is formed by overlapping a plurality of annular piezoelectric ceramic pieces;
when crack detection is carried out on the laminated piezoelectric ceramic, whether micro cracks exist on the front side and the back side of each annular piezoelectric ceramic piece or not needs to be detected one by one;
however, crack detection aiming at the piezoelectric ceramic pieces does not occur in the existing detection mechanism, the detection efficiency of manually detecting each piezoelectric ceramic piece one by one is extremely low, and fine cracks on the surface are difficult to distinguish by naked eyes, so that the possibility of error detection is increased;
the macro camera can amplify the local surface of the object, so that the accuracy rate of detection is higher than that of naked eyes; the applicant therefore considers that it is possible to design an automatic detection system based on macro cameras.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a crack microspur detection system and a working method of a piezoelectric ceramic stack, which can realize double surfaces and high definition by one camera.
The technical scheme is as follows: in order to achieve the purpose, the crack micro-distance detection system of the piezoelectric ceramic stack comprises a base, wherein a horizontal fixing platform is supported and arranged above the base through a supporting piece, the piezoelectric ceramic stack formed by overlapping a plurality of horizontal annular piezoelectric ceramic pieces is placed on the fixing platform, and the crack micro-distance detection system further comprises an automatic micro-distance crack detection mechanism, and the automatic micro-distance crack detection mechanism can be used for gradually detecting each annular piezoelectric ceramic piece on the piezoelectric ceramic stack.
Furthermore, a plurality of vertical piezoelectric ceramic stack constraint columns are distributed on the upper side of the fixed platform along the contour edge in a circumferential array mode, and the piezoelectric ceramic stacks are constrained within the enclosing range of the piezoelectric ceramic stack constraint columns distributed in the circumferential array mode in the overlooking visual angle.
Further, vertical expansion bend is installed to fixed platform's below, the last fretwork of fixed platform is provided with the telescopic link and passes the hole, the vertical telescopic link of expansion bend can upwards pass the telescopic link passes the hole, the upper end of vertical telescopic link upwards the lower surface of the cyclic annular piezoceramics piece of a level of roof pressure piezoceramics heap bottom, upwards stretching out of vertical telescopic link enables the whole displacement that makes progress of piezoceramics heap.
Further, the automatic macro crack detection mechanism comprises a mechanical arm part and a detection execution part, the detection execution part of the automatic macro crack detection mechanism comprises two working states, and the two working states of the automatic macro crack detection mechanism are respectively marked as a transverse posture execution part and a vertical posture execution part.
Furthermore, the lower surface of the horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack is level to the height of the upper end of the column body of each piezoelectric ceramic stack restraint column;
the transverse posture executing part comprises a first rolling wheel and a second rolling wheel which are horizontally parallel, and a shifting finger and a braking finger which are horizontally parallel; the first rolling supporting wheel, the second rolling supporting wheel, the shifting finger and the braking finger are all parallel to a horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack, and the first rolling supporting wheel, the second rolling supporting wheel, the shifting finger and the braking finger are distributed on the periphery of the horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack;
the outer ring of the first roller supporting wheel is provided with a first annular roller groove, the outer ring of the second roller supporting wheel is provided with a second annular roller groove, and the groove widths of the first annular roller groove and the second annular roller groove are consistent with the plate thickness of the annular piezoelectric ceramic plate;
one end, far away from the braking finger, of the shifting finger is fixedly connected with a vertical first finger driving rotating shaft, and one end, far away from the shifting finger, of the braking finger is fixedly connected with a vertical second finger driving rotating shaft; the tail end of the poking finger is a poking end, and the tail end of the braking finger is a braking end;
under a overlooking visual angle, clockwise rotation of the first finger driving rotating shaft and anticlockwise rotation of the second finger driving rotating shaft can drive a poking end of a poking finger and a braking end of a braking finger to push a horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack towards a direction close to the first rolling supporting wheel and the second rolling supporting wheel, and the horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack is horizontally slid until the contour edge of the horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack is clamped into a first annular rolling groove and a second annular rolling groove of the first rolling supporting wheel and the second rolling supporting wheel, so that the first rolling supporting wheel and the second rolling supporting wheel are in rolling fit with the outer contour of the horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack;
the transverse posture executing part further comprises a first rotating shaft driving motor and a second rotating shaft driving motor, and the first rotating shaft driving motor and the second rotating shaft driving motor are respectively in driving connection with the first finger driving rotating shaft and the second finger driving rotating shaft; the roller device also comprises a bow-shaped first support, wherein a first roller shaft with the same axle center at the upper end of a first roller supporting wheel and a second roller shaft with the same axle center at the upper end of a second roller supporting wheel are respectively and rotatably arranged in two bearing holes on the first support through bearings; a first swing arm driving motor is installed on the upper side of the middle of the first support, a first swing arm driving shaft at the output end of the first swing arm driving motor is vertically upward, a first swing arm is vertically and fixedly connected to the upper end of the first swing arm driving shaft, and a casing of the first rotating shaft driving motor is fixed at the tail end of the first swing arm; an arched second support is arranged above the first support in parallel, the lower sides of two ends of the second support are fixedly connected with the first support through support columns, a second swing arm driving motor is installed on the lower side of the middle of the second support, a second swing arm driving shaft at the output end of the second swing arm driving motor faces downwards vertically, the axis of the second swing arm driving shaft is overlapped with the axis of the first swing arm driving shaft, a second swing arm is vertically and fixedly connected to the lower end of the second swing arm driving shaft, and a casing of the second rotating shaft driving motor is fixed at the tail end of the second swing arm;
the device is characterized by further comprising an attitude adjusting motor arranged at the tail end of the mechanical arm part, wherein the axis of an output shaft of the attitude adjusting motor is horizontal, the side part of the output shaft of the attitude adjusting motor is fixedly connected with a bow-shaped connecting frame through a connecting seat, and two ends of the connecting frame are fixedly connected with two ends of the first support, so that the first support rotates along with the output shaft of the attitude adjusting motor; after the first support swings upwards by 90 degrees along the axis of the output shaft of the attitude adjusting motor, the transverse attitude executing part is converted into a vertical attitude executing part;
under the state of the vertical posture execution part, the first annular rolling groove and the second annular rolling groove of the first rolling supporting wheel and the second rolling supporting wheel upwards support the annular piezoelectric ceramic plates of which the axes are horizontal, and the axes of the annular piezoelectric ceramic plates upwards supported by the first annular rolling groove and the second annular rolling groove are superposed with the axes of the first swing arm driving shaft and the second swing arm driving shaft;
in the state of the vertical posture execution part, the poking end at the tail end of the poking finger and the braking end at the tail end of the braking finger can swing downwards to press against the outer contour of the annular piezoelectric ceramic piece;
a camera adjusting motor is fixedly installed on the connecting seat, an arc-shaped camera supporting arm is connected to a rotating shaft of the camera adjusting motor, the axis of the rotating shaft of the camera adjusting motor is vertically intersected with the axes of the output shaft, the first swing arm driving shaft and the second swing arm driving shaft, a macro camera is fixedly installed at the tail end of the camera supporting arm, and the axis of a lens of the macro camera is vertical to the axis of the rotating shaft;
in the state of the vertical posture execution part, a local range of one side surface of the annular piezoelectric ceramic piece which is upwards supported by the first annular rolling groove and the second annular rolling groove falls in a lens sight line range of the macro camera, and after the annular piezoelectric ceramic piece which is upwards supported by the first annular rolling groove and the second annular rolling groove rotates 360 degrees along the axis of the annular piezoelectric ceramic piece, the lens sight line range of the macro camera sweeps the complete surface of one side of the annular piezoelectric ceramic piece;
in the state of the vertical posture execution part, after a rotating shaft of the camera adjusting motor rotates for 360 degrees, the local range of the other side surface of the annular piezoelectric ceramic piece which is upwards supported by the first annular rolling groove and the second annular rolling groove falls within the visual range of a lens of the macro camera.
Furthermore, the surfaces of the poking end and the braking end are made of rubber or silica gel.
Further, the macro camera is an industrial macro camera.
Further, the detection method of the crack microspur detection system of the piezoelectric ceramic stack comprises the following steps: the method comprises the following steps:
controlling a telescopic device, and extending a vertical telescopic rod upwards to enable a piezoelectric ceramic stack to integrally displace upwards until the lower surface of a horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack is level to the height of the upper end of a column body of each piezoelectric ceramic stack restraint column; the detection executing part of the automatic microspur crack detecting mechanism is in a transverse posture executing part in an initial state, and at the moment, a first rolling supporting wheel, a second rolling supporting wheel, a shifting finger and a braking finger are distributed around the uppermost horizontal annular piezoelectric ceramic piece of the piezoelectric ceramic stack and do not contact the uppermost horizontal annular piezoelectric ceramic piece of the piezoelectric ceramic stack;
step two, simultaneously controlling a first rotating shaft driving motor and a second rotating shaft driving motor, and further respectively driving a first finger driving rotating shaft to rotate clockwise and a second finger driving rotating shaft to rotate anticlockwise, so that a poking end of a poking finger and a braking end of a braking finger push a horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack towards a direction close to a first rolling supporting wheel and a second rolling supporting wheel, and the horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack is horizontally slid towards a direction gradually close to the first rolling supporting wheel and the second rolling supporting wheel;
step three, continuously operating, wherein a horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack slides horizontally in a direction gradually approaching to the first roller supporting wheel and the second roller supporting wheel until the contour edge of the horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack is clamped into the first annular rolling groove and the second annular rolling groove of the first roller supporting wheel and the second roller supporting wheel, so that the first roller supporting wheel and the second roller supporting wheel are in rolling fit with the outer contour of the horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack; at the moment, the poking end of the poking finger and the braking end of the braking finger tightly press the outline of the topmost horizontal annular piezoelectric ceramic piece of the piezoelectric ceramic stack, so that the topmost horizontal annular piezoelectric ceramic piece of the piezoelectric ceramic stack is completely clamped by the transverse attitude execution part; the axis of the annular piezoelectric ceramic piece clamped by the transverse posture executing part is superposed with the axes of the first swing arm driving shaft and the second swing arm driving shaft;
controlling an attitude adjusting motor to enable an output shaft to drive a first support to gradually swing upwards along the axis of the output shaft of the attitude adjusting motor, enabling an annular piezoelectric ceramic piece clamped by a transverse attitude executing part to swing upwards along the axis of the output shaft of the attitude adjusting motor, and converting the transverse attitude executing part into a vertical attitude executing part after the first support swings upwards by 90 degrees along the axis of the output shaft of the attitude adjusting motor;
under the state of the vertical posture execution part, the first annular rolling grooves and the second annular rolling grooves of the first rolling supporting wheel and the second rolling supporting wheel upwards support annular piezoelectric ceramic plates with horizontal axes; the local range of one side surface of the annular piezoelectric ceramic piece which is upwards supported by the first annular rolling groove and the second annular rolling groove falls within the visual range of a lens of the macro camera, and the macro camera is always in an open state in the subsequent process;
controlling the first rotating shaft driving motor to output constant torque, so that the poking end at the tail end of the poking finger presses the outer contour of the annular piezoelectric ceramic piece; meanwhile, the second rotating shaft is controlled to drive the motor, so that the braking end at the tail end of the braking finger swings upwards, and the braking end at the tail end of the braking finger is separated from the outer contour of the annular piezoelectric ceramic piece; at the moment, the first swing arm driving motor is controlled, so that the first swing arm and the poking finger swing a degrees anticlockwise along the axis of the first swing arm driving shaft, and the poking end of the poking finger pokes the clamped annular piezoelectric ceramic piece anticlockwise and slowly rotates a degrees anticlockwise under the action of friction force; at the moment, the second rotating shaft driving motor is controlled to enable the braking end at the tail end of the braking finger to swing downwards until the braking end at the tail end of the braking finger downwards presses the outer contour of the annular piezoelectric ceramic piece, and at the moment, the annular piezoelectric ceramic piece is in a braking state under the action of static friction force of the braking end;
controlling a first rotating shaft to drive a motor, enabling a shifting end at the tail end of a shifting finger to swing upwards, and enabling the shifting end to be separated from the outer contour of the annular piezoelectric ceramic piece, wherein the annular piezoelectric ceramic piece lifted upwards by the first annular rolling groove and the second annular rolling groove cannot rotate spontaneously due to the fact that the braking end presses the outer contour of the annular piezoelectric ceramic piece downwards; then controlling a first swing arm driving motor to enable the first swing arm and the poking finger to swing a degrees clockwise along the axis of the first swing arm driving shaft, further enabling the poking finger and the first swing arm to return to the initial position of the step five, and then controlling a first rotating shaft driving motor to enable the poking end at the tail end of the poking finger to swing downwards to re-jack the outline of the annular piezoelectric ceramic piece;
step seven, repeating the step five and the step six for N times to enable the total counterclockwise rotation angle of the clamped annular piezoelectric ceramic piece to be N a degrees, and when the N a degrees are larger than or equal to 360 degrees, indicating that the annular piezoelectric ceramic piece lifted upwards by the first annular rolling groove and the second annular rolling groove at least rotates 360 degrees counterclockwise in an accumulated mode along the axis of the annular piezoelectric ceramic piece, so that the visual line range of the lens of the macro camera sweeps the complete surface of one side of the annular piezoelectric ceramic piece; then the macro camera transmits the amplified image to an image processing system or a display screen, so that human eyes are replaced to judge whether fine cracks exist on the surface of one side of the annular piezoelectric ceramic piece, and crack detection on the surface of one side of the annular piezoelectric ceramic piece is realized;
step eight, controlling a rotating shaft of a camera to adjust a motor to rotate for 360 degrees, enabling the local range of the other side surface of the annular piezoelectric ceramic piece lifted upwards by the first annular rolling groove and the second annular rolling groove to fall within the visual line range of a lens of the macro camera, and realizing crack detection on the other side surface of the annular piezoelectric ceramic piece by referring to the step five, the step six and the step seven;
and step eight, enabling the first swing arm to swing anticlockwise to be horizontal, enabling the second swing arm to swing clockwise to be horizontal, enabling the poking end and the braking end 20.1 to be separated from the outer contour of the annular piezoelectric ceramic piece, and enabling the annular piezoelectric ceramic piece which is lifted upwards by the first annular rolling groove and the second annular rolling groove and is subjected to double-sided detection to be taken out upwards smoothly.
Has the advantages that: the scheme of the invention can realize local shooting, but can obtain a crack detection mechanism of a whole image, thus finishing a high-definition shooting task under the condition of lower configuration of a macro camera: as long as repeating the step five and the step six for N times, the total counterclockwise rotation angle of the clamped annular piezoelectric ceramic piece is N a degrees, when the N a degrees are greater than or equal to 360 degrees, the annular piezoelectric ceramic piece lifted upwards by the first annular rolling groove and the second annular rolling groove at least rotates 360 degrees counterclockwise in an accumulated manner, so that the visual range of the lens of the macro camera sweeps the complete surface of one side of the annular piezoelectric ceramic piece; then the macro camera transmits the amplified image to an image processing system or a display screen, so that human eyes are replaced to judge whether fine cracks exist on the surface of one side of the annular piezoelectric ceramic piece, and crack detection on the surface of one side of the annular piezoelectric ceramic piece is realized;
drawings
FIG. 1 is a schematic view showing a first state of the overall structure of the apparatus (the state of the figure is a lateral attitude performing section);
FIG. 2 is an enlarged schematic view of FIG. 1 at 35;
FIG. 3 is a schematic view showing a second state of the overall structure of the apparatus (the state of the figure is a lateral attitude performing section);
FIG. 4 is a schematic structural view of a piezoelectric ceramic stack;
FIG. 5 is an enlarged schematic view of FIG. 4;
FIG. 6 is a schematic representation of the end of "step one";
FIG. 7 is a diagram illustrating the status of "step two";
FIG. 8 is a schematic view at the end of "step three";
FIG. 9 is a schematic view of the end of "step four" (and also an enlarged view of reference numeral 70 of FIG. 3);
FIG. 10 is a schematic view of another viewing angle at the end of step four (and also an enlarged view of the direction A of FIG. 3);
FIG. 11 is a schematic view of the outer contour of the ring-shaped piezoelectric ceramic plate separated from the braking end of the finger end on the basis of FIG. 10;
FIG. 12 is a schematic view of the outer contour of the ring-shaped piezoelectric ceramic plate separated from the poking end of the poking finger based on FIG. 10;
FIG. 13 is a schematic view of the camera after the rotation shaft of the camera adjusting motor rotates 360 degrees in step seven;
FIG. 14 is a schematic view of the end of "step eight".
Detailed Description
The present invention will be further described with reference to the drawings, wherein all of the electric machines mentioned in this document are in a braking state when not in operation.
The crack microspur detection system of the piezoceramics stack as shown in fig. 1 to 14 comprises a base 36, a horizontal fixed platform 23 is supported and arranged above the base 36 through a support 27, a piezoceramics stack 24 formed by overlapping a plurality of horizontal annular piezoceramics sheets 50 is placed on the fixed platform 23, in the embodiment, two adjacent annular piezoceramics sheets 50 are not bonded and can slide relatively, and the crack microspur detection system further comprises an automatic microspur crack detection mechanism, wherein the automatic microspur crack detection mechanism can detect each annular piezoceramics sheet 50 on the piezoceramics stack 24 one by one.
A plurality of vertical piezoelectric ceramic stack constraint columns 22 are distributed on the upper side of the fixed platform 23 along the contour edge in a circumferential array, and the piezoelectric ceramic stack 24 is constrained within the enclosing range of the piezoelectric ceramic stack constraint columns 22 distributed in the circumferential array in a overlooking view.
The automatic microspur crack detection mechanism comprises a mechanical arm part 1 and a detection execution part, wherein the detection execution part of the automatic microspur crack detection mechanism comprises two working states, and the two working states of the automatic microspur crack detection mechanism are respectively marked as a transverse posture execution part 35 and a vertical posture execution part 70.
The lower surface of the uppermost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24 is level with the height of the upper end 22.1 of the column body of each piezoelectric ceramic stack restraint column 22;
the transverse posture executing part 35 comprises a first rolling wheel 5, a second rolling wheel 29, a shifting finger 16 and a braking finger 20 which are horizontally arranged in parallel; the first rolling supporting wheel 5, the second rolling supporting wheel 29, the shifting finger 16 and the braking finger 20 are all parallel to the uppermost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24, and the first rolling supporting wheel 5, the second rolling supporting wheel 29, the shifting finger 16 and the braking finger 20 are distributed around the uppermost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24;
a first annular rolling groove 4 is formed in the outer ring of the first rolling wheel 5, a second annular rolling groove 25 is formed in the outer ring of the second rolling wheel 29, and the groove widths of the first annular rolling groove 4 and the second annular rolling groove 25 are consistent with the plate thickness of the annular piezoelectric ceramic plate 50;
one end of the toggle finger 16, which is far away from the brake finger 20, is fixedly connected with a vertical first finger driving rotating shaft 15, and one end of the brake finger 20, which is far away from the toggle finger 16, is fixedly connected with a vertical second finger driving rotating shaft 19; the tail end of the toggle finger 16 is a toggle end 16.1, and the tail end of the brake finger 20 is a brake end 20.1;
in a overlooking view, clockwise rotation of the first finger driving rotating shaft 15 and anticlockwise rotation of the second finger driving rotating shaft 19 can drive a poking end 16.1 of a poking finger 16 and a braking end 20.1 of a braking finger 20 to push a horizontal annular piezoelectric ceramic piece 50 at the uppermost end of a piezoelectric ceramic stack 24 in a direction close to the first rolling wheel 5 and the second rolling wheel 29, and enable the horizontal annular piezoelectric ceramic piece 50 at the uppermost end of the piezoelectric ceramic stack 24 to horizontally slide until the contour edge of the horizontal annular piezoelectric ceramic piece 50 at the uppermost end of the piezoelectric ceramic stack 24 is clamped into the first annular rolling groove 4 and the second annular rolling groove 25 of the first rolling wheel 5 and the second rolling wheel 29, so that the first rolling wheel 5 and the second rolling wheel 29 are in rolling fit with the outer contour 50.1 of the horizontal annular piezoelectric ceramic piece 50 at the uppermost end of the piezoelectric ceramic stack 24;
the transverse posture executing part 35 further comprises a first rotating shaft driving motor 14 and a second rotating shaft driving motor 18, wherein the first rotating shaft driving motor 14 and the second rotating shaft driving motor 18 are respectively connected with the first finger driving rotating shaft 15 and the second finger driving rotating shaft 19 in a driving manner; the device also comprises a bow-shaped first bracket 6, a first roller shaft 7 with the same axle center at the upper end of a first roller wheel 5 and a second roller shaft 28 with the same axle center at the upper end of a second roller wheel 29 are respectively and rotatably arranged in two bearing holes on the first bracket 6 through bearings; a first swing arm driving motor 11 is installed on the upper side of the middle of the first support 6, a first swing arm driving shaft 40 at the output end of the first swing arm driving motor 11 is vertically upward, a first swing arm 13 is vertically and fixedly connected to the upper end of the first swing arm driving shaft 40, and a casing of the first rotating shaft driving motor 14 is fixed at the tail end of the first swing arm 13; an arched second support 10 is arranged above the first support 6 in parallel, the lower sides of two ends of the second support 10 are fixedly connected with the first support 6 through support columns 8, a second swing arm driving motor 12 is installed on the lower side of the middle of the second support 10, a second swing arm driving shaft 39 at the output end of the second swing arm driving motor 12 faces downwards vertically, the axis of the second swing arm driving shaft 39 is overlapped with the axis of the first swing arm driving shaft 40, the lower end of the second swing arm driving shaft 39 is vertically and fixedly connected with a second swing arm 17, and a casing of a second rotating shaft driving motor 18 is fixed at the tail end of the second swing arm 17;
the robot further comprises an attitude adjusting motor 5 installed at the tail end of the mechanical arm part 1, the axis of an output shaft 32 of the attitude adjusting motor 5 is horizontal, the side part of the output shaft 32 of the attitude adjusting motor 5 is fixedly connected with a bow-shaped connecting frame 3 through a connecting seat 31, and two ends of the connecting frame 3 are fixedly connected with two ends of the first support 6, so that the first support 6 rotates along with the output shaft 32 of the attitude adjusting motor 5; after the first bracket 6 swings upward by 90 degrees along the axis of the output shaft 32 of the attitude adjusting motor 5, the transverse attitude performing part 35 is changed into a vertical attitude performing part 70;
in the state of the vertical posture executing part 70, the first annular rolling groove 4 and the second annular rolling groove 25 of the first roller supporting wheel 5 and the second roller supporting wheel 29 lift the annular piezoelectric ceramic piece 50 with horizontal axes upwards, and the axes of the annular piezoelectric ceramic piece 50 lifted upwards by the first annular rolling groove 4 and the second annular rolling groove 25 are superposed with the axes of the first swing arm driving shaft 40 and the second swing arm driving shaft 39;
in the state of the vertical posture executing part 70, both the poking end 16.1 at the tail end of the poking finger 16 and the braking end 20.1 at the tail end of the braking finger 20 can swing downwards to press against the outer contour 50.1 of the annular piezoelectric ceramic piece 50;
a camera adjusting motor 33 is fixedly installed on the connecting seat 31, an arc-shaped camera supporting arm 34 is connected to a rotating shaft 30 of the camera adjusting motor 33, the axis of the rotating shaft 30 of the camera adjusting motor 33 is vertically intersected with the axes of the output shaft 32, the first swing arm driving shaft 40 and the second swing arm driving shaft 39, a macro camera 9 is fixedly installed at the tail end of the camera supporting arm 34, and the lens axis of the macro camera 9 is vertical to the axis of the rotating shaft 30;
in the state of the vertical posture executing part 70, a local range of one side surface of the annular piezoceramic sheet 50 lifted upwards by the first annular rolling groove 4 and the second annular rolling groove 25 falls within the lens sight range 43 of the macro camera 9, and after the annular piezoceramic sheet 50 lifted upwards by the first annular rolling groove 4 and the second annular rolling groove 25 rotates 360 degrees along the axis thereof, the lens sight range 43 of the macro camera 9 sweeps the complete surface of one side of the annular piezoceramic sheet 50;
in the state of the vertical posture executing section 70, after the rotating shaft 30 of the camera adjusting motor 33 rotates 360 °, the other side surface partial range of the ring-shaped piezoelectric ceramic sheet 50 lifted up by the first ring-shaped rolling groove 4 and the second ring-shaped rolling groove 25 falls within the lens sight line range 43 of the macro camera 9.
The surfaces of the poking end 16.1 and the braking end 20.1 are both made of rubber or silica gel.
The macro camera 9 is an industrial macro camera.
The detection method of the crack microspur detection system of the piezoelectric ceramic stack comprises the following steps:
step one, controlling the expansion device 26, and extending the vertical expansion rod 37 upwards to enable the piezoelectric ceramic stack 24 to integrally displace upwards until the lower surface of the uppermost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24 is level with the height of the upper end 22.1 of the column body of each piezoelectric ceramic stack restraint column 22; the detection executing part of the automatic microspur crack detecting mechanism is in a transverse posture executing part 35 in an initial state, and at the moment, the first roller supporting wheel 5, the second roller supporting wheel 29, the shifting finger 16 and the braking finger 20 are distributed around the uppermost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24 and do not contact the uppermost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24;
step two, simultaneously controlling the first rotating shaft driving motor 14 and the second rotating shaft driving motor 18, further respectively driving the first finger driving rotating shaft 15 to rotate clockwise and the second finger driving rotating shaft 19 to rotate anticlockwise, further enabling the poking end 16.1 of the poking finger 16 and the braking end 20.1 of the braking finger 20 to push the uppermost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24 in the direction close to the first roller wheel 5 and the second roller wheel 29, and enabling the uppermost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24 to slide horizontally in the direction gradually close to the first roller wheel 5 and the second roller wheel 29;
step three, continuously operating, namely horizontally sliding the topmost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24 in a direction gradually approaching the first rolling supporting wheel 5 and the second rolling supporting wheel 29 until the contour edge of the topmost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24 is clamped into the first annular rolling groove 4 and the second annular rolling groove 25 of the first rolling supporting wheel 5 and the second rolling supporting wheel 29, so that the first rolling supporting wheel 5 and the second rolling supporting wheel 29 are in rolling fit with the outer contour 50.1 of the topmost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24; at this time, the poking end 16.1 of the poking finger 16 and the braking end 20.1 of the braking finger 20 both tightly press the outer contour 50.1 of the topmost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24, so that the topmost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24 is completely clamped by the transverse attitude execution part 35; the axis of the annular piezoelectric ceramic sheet 50 clamped by the transverse posture executing part 35 coincides with the axes of the first swing arm driving shaft 40 and the second swing arm driving shaft 39;
step four, controlling the attitude adjusting motor 5 to enable the output shaft 32 to drive the first support 6 to gradually swing upwards along the axis of the output shaft 32 of the attitude adjusting motor 5, enabling the annular piezoelectric ceramic sheet 50 clamped by the transverse attitude executing part 35 to swing upwards along with the output shaft 32 of the attitude adjusting motor 5, and after the first support 6 swings upwards by 90 degrees along the axis of the output shaft 32 of the attitude adjusting motor 5, converting the transverse attitude executing part 35 into the vertical attitude executing part 70;
in the state of the vertical posture executing part 70, the first annular rolling groove 4 and the second annular rolling groove 25 of the first roller supporting wheel 5 and the second roller supporting wheel 29 lift the annular piezoelectric ceramic sheet 50 with the horizontal axis upwards; a local range of one side surface of the annular piezoelectric ceramic sheet 50 which is lifted upwards by the first annular rolling groove 4 and the second annular rolling groove 25 falls within the lens sight range 43 of the macro camera 9, and the macro camera 9 is always in an open state in the subsequent process;
step five, controlling the first rotating shaft driving motor 14 to output constant torque, so that a poking end 16.1 at the tail end of a poking finger 16 is pressed against the outer contour 50.1 of the annular piezoelectric ceramic piece 50; meanwhile, the second rotating shaft driving motor 18 is controlled to enable the braking end 20.1 at the tail end of the braking finger 20 to swing upwards, so that the braking end 20.1 at the tail end of the braking finger 20 is separated from the outer contour 50.1 of the annular piezoelectric ceramic piece 50; at this time, the first swing arm driving motor 11 is controlled to enable the first swing arm 13 and the poking finger 16 to swing a degrees anticlockwise along the axis of the first swing arm driving shaft 40, and further enable the poking end 16.1 of the poking finger 16 to poke the clamped annular piezoelectric ceramic piece 50 anticlockwise and rotate a degrees slowly anticlockwise under the action of friction force; at this time, the second rotating shaft driving motor 18 is controlled firstly, so that the braking end 20.1 at the tail end of the braking finger 20 swings downwards until the braking end 20.1 at the tail end of the braking finger 20 pushes downwards the outer contour 50.1 of the annular piezoelectric ceramic piece 50, and at this time, the annular piezoelectric ceramic piece 50 is in a braking state under the action of the static friction force of the braking end 20.1;
step six, controlling the first rotating shaft driving motor 14 to enable the poking end 16.1 at the tail end of the poking finger 16 to swing upwards, so that the poking end 16.1 is separated from the outer contour 50.1 of the annular piezoelectric ceramic piece 50, and at this time, because the braking end 20.1 already downwards pushes and presses the outer contour 50.1 of the annular piezoelectric ceramic piece 50, the annular piezoelectric ceramic piece 50 lifted upwards by the first annular rolling groove 4 and the second annular rolling groove 25 cannot rotate spontaneously; then, controlling the first swing arm driving motor 11 to enable the first swing arm 13 and the poking finger 16 to swing a degrees clockwise along the axis of the first swing arm driving shaft 40, further enabling the poking finger 16 and the first swing arm 13 to return to the initial position of the step five, and then controlling the first rotating shaft driving motor 14 to enable the poking end 16.1 at the tail end of the poking finger 16 to swing downwards to re-press the outer contour 50.1 of the annular piezoelectric ceramic piece 50;
step seven, repeating the step five and the step six for N times to make the total counterclockwise rotation angle of the clamped annular piezoelectric ceramic piece 50 be N a degrees, and when the N a degrees are greater than or equal to 360 degrees, indicating that the annular piezoelectric ceramic piece 50 lifted up by the first annular rolling groove 4 and the second annular rolling groove 25 rotates 360 degrees along the axis thereof at least counterclockwise in an accumulated manner, so that the lens sight line range 43 of the macro camera 9 sweeps the complete surface of one side of the annular piezoelectric ceramic piece 50; then the macro camera 9 transmits the amplified image to an image processing system or a display screen, so that human eyes are replaced to judge whether fine cracks exist on the surface of one side of the annular piezoelectric ceramic piece 50, and crack detection on the surface of one side of the annular piezoelectric ceramic piece 50 is realized;
step eight, controlling a rotating shaft 30 of a camera adjusting motor 33 to rotate 360 degrees, so that the local range of the other side surface of the annular piezoelectric ceramic piece 50 lifted upwards by the first annular rolling groove 4 and the second annular rolling groove 25 falls within a lens sight range 43 of the macro camera 9, and realizing crack detection on the other side surface of the annular piezoelectric ceramic piece 50 by referring to step five, step six and step seven;
step eight, the first swing arm 13 swings anticlockwise to be horizontal, the second swing arm 17 swings clockwise to be horizontal, the poking end 16.1 and the braking end 20.1 are both separated from the outer contour 50.1 of the annular piezoelectric ceramic piece 50, and the annular piezoelectric ceramic piece 50 with two detected surfaces, which is lifted upwards by the first annular rolling groove 4 and the second annular rolling groove 25, can be taken out upwards smoothly.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (8)
1. Crack microspur detecting system that piezoceramics piled, its characterized in that: including base (36), the top of base (36) is passed through support piece (27) and is supported and be provided with horizontally fixed platform (23), the piezoceramics that is formed by overlapping a plurality of cyclic annular piezoceramics piece (50) of level is placed on fixed platform (23) and is piled (24), still includes automatic microspur crack detection mechanism, every cyclic annular piezoceramics piece (50) on automatic microspur crack detection mechanism can detect piezoceramics piece (24) one by one.
2. The system for crack macro detection of a piezo ceramic stack according to claim 1, wherein: a plurality of vertical piezoelectric ceramic stack constraint columns (22) are distributed on the upper side of the fixed platform (23) in a circumferential array along the outline edge, and the piezoelectric ceramic stack (24) is constrained in the enclosing range of the piezoelectric ceramic stack constraint columns (22) distributed in the circumferential array in the overlooking view.
3. The system for crack macro detection of a piezo ceramic stack according to claim 2, wherein: vertical expansion bend (26) are installed to the below of fixed platform (23), the fretwork is provided with the telescopic link and passes hole (38) on fixed platform (23), vertical telescopic link (37) of expansion bend (26) can upwards pass the telescopic link passes hole (38), the upper end of vertical telescopic link (37) upwards the lower surface of the cyclic annular piezoceramics piece of a level (50) of roof pressure piezoceramics heap (24) bottom, upwards stretching out of vertical telescopic link (37) can make piezoceramics heap (24) whole displacement that makes progress.
4. The system for crack macro detection of a piezo ceramic stack according to claim 3, wherein: the automatic microspur crack detection mechanism comprises a mechanical arm part (1) and a detection execution part, wherein the detection execution part of the automatic microspur crack detection mechanism comprises two working states, and the two working states of the automatic microspur crack detection mechanism are respectively marked as a transverse posture execution part (35) and a vertical posture execution part (70).
5. The system for crack macro detection of a piezo ceramic stack according to claim 4, wherein:
the lower surface of the horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24) is level to the height of the upper end (22.1) of the column body of each piezoelectric ceramic stack restraint column (22);
the transverse posture execution part (35) comprises a first rolling wheel (5) and a second rolling wheel (29) which are horizontally arranged in parallel, a shifting finger (16) and a braking finger (20) which are horizontally arranged in parallel; the first rolling supporting wheel (5), the second rolling supporting wheel (29), the shifting finger (16) and the braking finger (20) are all parallel to a horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24), and the first rolling supporting wheel (5), the second rolling supporting wheel (29), the shifting finger (16) and the braking finger (20) are distributed around the horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24);
a first annular rolling groove (4) is formed in the outer ring of the first rolling wheel (5), a second annular rolling groove (25) is formed in the outer ring of the second rolling wheel (29), and the groove widths of the first annular rolling groove (4) and the second annular rolling groove (25) are consistent with the plate thickness of the annular piezoelectric ceramic plate (50);
one end, far away from the braking finger (20), of the poking finger (16) is fixedly connected with a vertical first finger driving rotating shaft (15), and one end, far away from the poking finger (16), of the braking finger (20) is fixedly connected with a vertical second finger driving rotating shaft (19); the tail end of the toggle finger (16) is a toggle end (16.1), and the tail end of the brake finger (20) is a brake end (20.1);
under a overlooking view angle, the clockwise rotation of the first finger driving rotating shaft (15) and the anticlockwise rotation of the second finger driving rotating shaft (19) can drive the poking end (16.1) of the poking finger (16) and the braking end (20.1) of the braking finger (20) to push a horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24) towards the directions close to the first rolling supporting wheel (5) and the second rolling supporting wheel (29), and the horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24) is horizontally slid until the contour edge of the horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24) is clamped into the first annular rolling groove (4) and the second annular rolling groove (25) of the first rolling supporting wheel (5) and the second rolling supporting wheel (29), so that the first rolling supporting wheel (5) and the second rolling supporting wheel (29) and the horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24) are both in the contour (1.1.50) Moving fit;
the transverse posture executing part (35) further comprises a first rotating shaft driving motor (14) and a second rotating shaft driving motor (18), and the first rotating shaft driving motor (14) and the second rotating shaft driving motor (18) are respectively in driving connection with the first finger driving rotating shaft (15) and the second finger driving rotating shaft (19); the device also comprises a bow-shaped first support (6), wherein a first roller shaft (7) with the same axle center at the upper end of a first roller (5) and a second roller shaft (28) with the same axle center at the upper end of a second roller (29) are respectively and rotatably arranged in two bearing holes on the first support (6) through bearings; a first swing arm driving motor (11) is installed on the upper side of the middle of the first support (6), a first swing arm driving shaft (40) at the output end of the first swing arm driving motor (11) is vertically upward, a first swing arm (13) is vertically and fixedly connected to the upper end of the first swing arm driving shaft (40), and a casing of a first rotating shaft driving motor (14) is fixed to the tail end of the first swing arm (13); a bow-shaped second support (10) is arranged above the first support (6) in parallel, the lower sides of two ends of the second support (10) are fixedly connected with the first support (6) through support columns (8), a second swing arm driving motor (12) is installed on the lower side of the middle of the second support (10), a second swing arm driving shaft (39) at the output end of the second swing arm driving motor (12) faces downwards vertically, the axis of the second swing arm driving shaft (39) is overlapped with the axis of the first swing arm driving shaft (40), the lower end of the second swing arm driving shaft (39) is vertically and fixedly connected with a second swing arm (17), and a casing of a second rotating shaft driving motor (18) is fixed at the tail end of the second swing arm (17);
the mechanical arm is characterized by further comprising a posture adjusting motor (5) arranged at the tail end of the mechanical arm (1), the axis of an output shaft (32) of the posture adjusting motor (5) is horizontal, the side part of the output shaft (32) of the posture adjusting motor (5) is fixedly connected with a bow-shaped connecting frame (3) through a connecting seat (31), and two ends of the connecting frame (3) are fixedly connected with two ends of the first support (6), so that the first support (6) rotates along with the output shaft (32) of the posture adjusting motor (5); after the first bracket (6) swings upwards by 90 degrees along the axis of the output shaft (32) of the attitude adjusting motor (5), the transverse attitude executing part (35) is converted into a vertical attitude executing part (70);
in the state of the vertical posture execution part (70), the first annular rolling groove (4) and the second annular rolling groove (25) of the first rolling wheel (5) and the second rolling wheel (29) upwards support the annular piezoelectric ceramic piece (50) with the horizontal axis, and the axis of the annular piezoelectric ceramic piece (50) upwards supported by the first annular rolling groove (4) and the second annular rolling groove (25) is superposed with the axis of the first swing arm driving shaft (40) and the second swing arm driving shaft (39);
in the state of the vertical posture execution part (70), a poking end (16.1) at the tail end of the poking finger (16) and a braking end (20.1) at the tail end of the braking finger (20) can swing downwards to press against the outer contour (50.1) of the annular piezoelectric ceramic piece (50);
a camera adjusting motor (33) is fixedly installed on the connecting seat (31), an arc-shaped camera supporting arm (34) is connected to a rotating shaft (30) of the camera adjusting motor (33), the axis of the rotating shaft (30) of the camera adjusting motor (33) is vertically intersected with the axes of the output shaft (32), the first swing arm driving shaft (40) and the second swing arm driving shaft (39), a macro camera (9) is fixedly installed at the tail end of the camera supporting arm (34), and the lens axis of the macro camera (9) is vertical to the axis of the rotating shaft (30);
in the state of the vertical posture execution part (70), a local range of one side surface of the annular piezoelectric ceramic piece (50) which is upwards supported by the first annular rolling groove (4) and the second annular rolling groove (25) falls into a lens sight range (43) of the macro camera (9), and after the annular piezoelectric ceramic piece (50) which is upwards supported by the first annular rolling groove (4) and the second annular rolling groove (25) rotates for 360 degrees along the axis of the annular piezoelectric ceramic piece (50), the lens sight range (43) of the macro camera (9) sweeps the complete surface of one side of the annular piezoelectric ceramic piece (50);
in the state of the vertical posture execution part (70), after a rotating shaft (30) of a camera adjusting motor (33) rotates for 360 degrees, the other side surface local range of the annular piezoelectric ceramic piece (50) which is upwards supported by the first annular rolling groove (4) and the second annular rolling groove (25) falls in a lens sight line range (43) of the macro camera (9).
6. The system for crack macro detection of a piezo ceramic stack according to claim 5, wherein: the surfaces of the poking end (16.1) and the braking end (20.1) are made of rubber or silica gel.
7. The system for crack macro detection of a piezo ceramic stack according to claim 6, wherein: the macro camera (9) is an industrial macro camera.
8. The method for detecting a crack macro detection system of a piezo-ceramic stack according to claim 7, wherein: the method comprises the following steps:
controlling a telescopic device (26) to extend upwards through a vertical telescopic rod (37) to enable a piezoelectric ceramic stack (24) to integrally displace upwards until the lower surface of a horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24) is level to the height of the upper end (22.1) of each column body of a piezoelectric ceramic stack restraint column (22); the detection executing part of the automatic microspur crack detecting mechanism is in a transverse posture executing part (35) in an initial state, and at the moment, a first roller supporting wheel (5), a second roller supporting wheel (29), a poking finger (16) and a braking finger (20) are distributed around the topmost horizontal annular piezoelectric ceramic piece (50) of the piezoelectric ceramic stack (24) and do not contact with the topmost horizontal annular piezoelectric ceramic piece (50) of the piezoelectric ceramic stack (24);
step two, simultaneously controlling a first rotating shaft driving motor (14) and a second rotating shaft driving motor (18) to respectively drive a first finger driving rotating shaft (15) to rotate clockwise and a second finger driving rotating shaft (19) to rotate anticlockwise, further enabling a poking end (16.1) of a poking finger (16) and a braking end (20.1) of a braking finger (20) to push a horizontal annular piezoelectric ceramic piece (50) at the uppermost end of a piezoelectric ceramic stack (24) in a direction close to a first rolling supporting wheel (5) and a second rolling supporting wheel (29), and enabling the horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24) to slide horizontally in a direction gradually close to the first rolling supporting wheel (5) and the second rolling supporting wheel (29);
step three, continuously operating, wherein a horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24) horizontally slides towards the direction gradually approaching the first rolling supporting wheel (5) and the second rolling supporting wheel (29) until the contour edge of the horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24) is clamped into the first annular rolling groove (4) and the second annular rolling groove (25) of the first rolling supporting wheel (5) and the second rolling supporting wheel (29), so that the first rolling supporting wheel (5) and the second rolling supporting wheel (29) are in rolling fit with the contour (50.1) of the horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24); at the moment, the poking end (16.1) of the poking finger (16) and the braking end (20.1) of the braking finger (20) both tightly press the outer contour (50.1) of the horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24), so that the horizontal annular piezoelectric ceramic piece (50) at the uppermost end of the piezoelectric ceramic stack (24) is completely clamped by the transverse attitude execution part (35); the axis of the annular piezoelectric ceramic piece (50) clamped by the transverse posture execution part (35) is superposed with the axes of the first swing arm driving shaft (40) and the second swing arm driving shaft (39);
controlling the attitude adjusting motor (5) to enable the output shaft (32) to drive the first support (6) to gradually swing upwards along the axis of the output shaft (32) of the attitude adjusting motor (5), the annular piezoelectric ceramic plate (50) clamped by the transverse attitude executing part (35) swings upwards along with the output shaft (32) of the attitude adjusting motor (5), and after the first support (6) swings upwards for 90 degrees along the axis of the output shaft (32) of the attitude adjusting motor (5), the transverse attitude executing part (35) is converted into the vertical attitude executing part (70);
in the state of the vertical posture execution part (70), the first annular rolling groove (4) and the second annular rolling groove (25) of the first rolling wheel (5) and the second rolling wheel (29) upwards support the annular piezoelectric ceramic plate (50) with the horizontal axis; the local range of one side surface of the annular piezoelectric ceramic plate (50) which is upwards supported by the first annular rolling groove (4) and the second annular rolling groove (25) falls within a lens sight range (43) of the macro camera (9), and the macro camera (9) is always in an open state in the subsequent process;
fifthly, controlling the first rotating shaft driving motor (14) to output constant torque, and enabling a poking end (16.1) at the tail end of a poking finger (16) to press the outer contour (50.1) of the annular piezoelectric ceramic plate (50); meanwhile, the second rotating shaft driving motor (18) is controlled to enable the braking end (20.1) at the tail end of the braking finger (20) to swing upwards, so that the braking end (20.1) at the tail end of the braking finger (20) is separated from the outer contour (50.1) of the annular piezoelectric ceramic piece (50); at the moment, the first swing arm driving motor (11) is controlled, so that the first swing arm (13) and the poking finger (16) swing anticlockwise for a degrees along the axis of the first swing arm driving shaft (40), and further the poking end (16.1) of the poking finger (16) pokes the clamped annular piezoelectric ceramic piece (50) anticlockwise and slowly rotates anticlockwise for a degrees under the action of friction force; at the moment, the second rotating shaft driving motor (18) is controlled to enable the braking end (20.1) at the tail end of the braking finger (20) to swing downwards until the braking end (20.1) at the tail end of the braking finger (20) pushes the outer contour (50.1) of the annular piezoelectric ceramic piece (50) downwards, and at the moment, the annular piezoelectric ceramic piece (50) is in a braking state under the static friction effect of the braking end (20.1);
sixthly, controlling the first rotating shaft driving motor (14) to enable a poking end (16.1) at the tail end of a poking finger (16) to swing upwards, so that the poking end (16.1) is separated from the outer contour (50.1) of the annular piezoelectric ceramic piece (50), and at the moment, because a braking end (20.1) already pushes downwards the outer contour (50.1) of the annular piezoelectric ceramic piece (50), the annular piezoelectric ceramic piece (50) lifted upwards by the first annular rolling groove (4) and the second annular rolling groove (25) cannot rotate spontaneously; then controlling a first swing arm driving motor (11) to enable a first swing arm (13) and a poking finger (16) to swing a degrees clockwise along the axis of a first swing arm driving shaft (40), further enabling the poking finger (16) and the first swing arm (13) to return to the initial position of the step five, and then controlling a first rotating shaft driving motor (14) to enable a poking end (16.1) at the tail end of the poking finger (16) to swing downwards to re-press the outer contour (50.1) of the annular piezoelectric ceramic plate (50);
step seven, repeating the step five and the step six for N times to enable the total counterclockwise rotation angle of the clamped annular piezoelectric ceramic piece (50) to be N a degrees, and when the N a degrees are larger than or equal to 360 degrees, indicating that the annular piezoelectric ceramic piece (50) lifted upwards by the first annular rolling groove (4) and the second annular rolling groove (25) rotates at least 360 degrees counterclockwise in an accumulated mode along the axis of the annular piezoelectric ceramic piece (50), so that the lens sight range (43) of the macro camera (9) sweeps the complete surface of one side of the annular piezoelectric ceramic piece (50); then the macro camera (9) transmits the amplified image to an image processing system or a display screen, so that human eyes are replaced to judge whether fine cracks exist on the surface of one side of the annular piezoelectric ceramic piece (50), and crack detection on the surface of one side of the annular piezoelectric ceramic piece (50) is realized;
step eight, controlling a rotating shaft (30) of a camera adjusting motor (33) to rotate for 360 degrees, enabling the local range of the other side surface of the annular piezoelectric ceramic piece (50) which is upwards supported by the first annular rolling groove (4) and the second annular rolling groove (25) to fall within a lens sight range (43) of the macro camera (9), and realizing crack detection on the other side surface of the annular piezoelectric ceramic piece (50) by referring to step five, step six and step seven;
and step eight, enabling the first swing arm (13) to swing anticlockwise to be horizontal, enabling the second swing arm (17) to swing clockwise to be horizontal, enabling the poking end (16.1) and the braking end (20.1) to be separated from the outer contour (50.1) of the annular piezoelectric ceramic piece (50), and enabling the annular piezoelectric ceramic piece (50) which is lifted upwards by the first annular rolling groove (4) and the second annular rolling groove (25) and has two detected surfaces to be taken out upwards smoothly.
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