CN117490619A - Handle shearing cylinder and cylindrical surface detection device and control method thereof - Google Patents
Handle shearing cylinder and cylindrical surface detection device and control method thereof Download PDFInfo
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- CN117490619A CN117490619A CN202410002407.1A CN202410002407A CN117490619A CN 117490619 A CN117490619 A CN 117490619A CN 202410002407 A CN202410002407 A CN 202410002407A CN 117490619 A CN117490619 A CN 117490619A
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- 238000001514 detection method Methods 0.000 title claims abstract description 241
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000010008 shearing Methods 0.000 title abstract description 39
- 238000013519 translation Methods 0.000 claims abstract description 94
- 238000006073 displacement reaction Methods 0.000 claims abstract description 55
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 230000006698 induction Effects 0.000 claims description 21
- 238000012937 correction Methods 0.000 abstract description 15
- 238000009434 installation Methods 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000012797 qualification Methods 0.000 abstract 1
- 238000005520 cutting process Methods 0.000 description 24
- 235000012055 fruits and vegetables Nutrition 0.000 description 19
- 235000013399 edible fruits Nutrition 0.000 description 9
- 238000005096 rolling process Methods 0.000 description 6
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 5
- 235000017491 Bambusa tulda Nutrition 0.000 description 5
- 241001330002 Bambuseae Species 0.000 description 5
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 5
- 239000011425 bamboo Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000003754 machining Methods 0.000 description 4
- NRNCYVBFPDDJNE-UHFFFAOYSA-N pemoline Chemical compound O1C(N)=NC(=O)C1C1=CC=CC=C1 NRNCYVBFPDDJNE-UHFFFAOYSA-N 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 235000002566 Capsicum Nutrition 0.000 description 1
- 240000008574 Capsicum frutescens Species 0.000 description 1
- 244000241838 Lycium barbarum Species 0.000 description 1
- 235000015459 Lycium barbarum Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000001390 capsicum minimum Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N15/04—Devices for topping fruit or vegetables
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention belongs to the technical field of size measurement, and particularly relates to a handle cylinder, a cylindrical surface detection device and a control method thereof. The translation servo motor drives the detection assembly to translate forward, the rotary servo motor drives the cylinder shearing assembly to rotate, and the displacement sensor, the translation servo motor and the rotary servo motor collect data; the detection contact of the middle switch touches the hoop, and the cylinder rapidly retracts to the left to avoid the second hoop. And if the maximum error of the radius of all points falling on the arc surface is larger than 2 mm, judging that the points are unqualified, otherwise, judging that the points are not larger than 2 mm, and judging that the points are qualified. The invention can automatically measure the data which is difficult to measure by the conventional measuring ruler measuring tool, automatically analyze the data, and obtain the conclusion of qualification or disqualification, and provide data support for the subsequent correction work; the free state before installation can be corrected, so that the movable space of the correction tool is prevented from being limited by the surrounding frame structure; and the detection is convenient to install.
Description
Technical Field
The invention belongs to the technical field of size measurement, relates to quality inspection equipment of a fruit and vegetable shearing cylinder, and in particular relates to a shearing cylinder, a cylindrical surface detection device and a control method thereof.
Background
The fruit and vegetable stem cutting machine, especially fruit and vegetable stem cutting machine of capsicum, matrimony vine, etc., includes cutting cylinder assembly, at least two pairs of first idler wheels, rotary driving assembly and multiunit scraper assembly; the shearing cylinder assembly comprises a shearing cylinder, a smooth surface hoop and a tooth surface hoop; the smooth surface hoop and the tooth surface hoop are collectively called as hoops, and play a role in enhancing rigidity of the shear cylinder assembly; the handle shearing cylinder is a cylindrical cylinder body made of steel plates, and a plurality of shearing holes are formed in the wall of the handle shearing cylinder; the shearing holes are usually holes with sharp edges, and no chamfer is manufactured; the smooth surface hoop and the tooth surface hoop are respectively and fixedly arranged on the periphery of the handle shearing cylinder; the first gyro wheels of pair pass through the revolute pair hookup in the frame, highly equal, the rotation axis sets up along the horizontal direction, the shortest distance between them is less than the external diameter of smooth hoop, smooth hoop is placed on a pair of first gyro wheels, the outer cylinder of smooth hoop is tangent with the outer cylinder of first gyro wheel, cut a section of thick bamboo subassembly and place on many pairs of first gyro wheels by gravity, cut the axial lead level of section of thick bamboo subassembly, cut a section of thick bamboo subassembly and can freely rotate around its horizontal axis, first gyro wheel passively follows the rotation, rolling friction between first gyro wheel and the smooth hoop, frictional force is less. The smooth hoops also act as annular tracks. The rotary driving assembly comprises a rotary motor and a first gear, a shell of the rotary motor is fixedly connected with the frame, and the first gear is fixedly connected with an output shaft of the rotary motor; the outer circumference of the tooth surface hoop is provided with gear teeth, the gear teeth of the tooth surface hoop are meshed with the first gear, and the rotary motor drives the shear cylinder assembly to rotate around the horizontal axis of the shear cylinder assembly through the first gear and the tooth surface hoop. The scraper component comprises a scraper and a spring, the scraper is provided with a linear cutting edge, the cutting edge of the scraper is parallel to the axial line direction of the scissor barrel component, and the cutting edge of the scraper is attached to the position between the two hoops on the outer cylindrical surface of the scissor barrel under the action of the elastic force of the spring. If five hoops are provided, one set of scraper assemblies is arranged between every two adjacent hoops, and four sets of scraper assemblies are required to be arranged. The shear cylinder assembly also comprises a helical blade welded on the inner wall of the shear handle cylinder.
When the fruit and vegetable cutter is used, the rotary motor drives the cutter barrel assembly to rotate, fruits and vegetables are placed from the feeding end of the cutter barrel assembly, and due to the fact that the fruits and vegetables are always on the lower side in the cutter barrel assembly due to the gravity, the fruits and vegetables roll continuously in the cutter barrel assembly along with the rotation of the cutter barrel assembly, the existing state of the fruit and vegetable cutter is random, the direction of fruit handles is random, and the fruit handles always have the opportunity to be inserted into the cutter holes. The fruit handle extends to the outside of the scissor tube assembly through the scissor aperture, and the stationary blade edge and the moving scissor Kong Ruibian produce a shearing action when passing the position of the blade assembly, which shears the fruit handle. The spiral blade drives fruits and vegetables to the discharge end continuously, each fruit and vegetable has a chance to roll to a state that the fruit handle faces downwards in a high probability through a long path, the fruits and vegetables are sheared off the fruit handle, and most of fruits and vegetables finally come out of the discharge end are sheared off the fruit handle. Compared with the original manual hand-held scissors for cutting off the fruit handle, the efficiency of the mode is improved by thousands of times, the manual labor is saved, and the product is widely popularized and applied.
However, the current production process of the scissor barrel assembly is not perfect, and the outer cylindrical surface profile of the scissor barrel is not precisely made. The shearing cylinder is often formed by welding a plurality of steel plates together instead of rolling a whole steel plate, and then welding a hoop and a spiral blade, so that machining errors and welding deformation are inevitably generated in the machining process, and certain element lines of the outer cylindrical surface of the shearing cylinder are not straight lines and are deviated from ideal element lines. When the linear cutting edge is attached to the element wire, the arched part of the surface of the handle cylinder away from the axis can be attached to the cutting edge correctly, so that the handle can be cut off effectively. However, the portion of the surface of the handle cylinder which is recessed in the direction close to the axis cannot be properly attached to the blade, and particularly, when the distance between the surface of the handle cylinder and the blade is two millimeters, the fruit handle cannot be effectively cut.
The shear cylinder assembly has a large body shape, and is difficult to accurately measure by using a conventional measuring ruler and measuring tool.
At present, few people develop special equipment for detecting the cylindrical surface of the handle cylinder, namely a handle cylinder assembly is often firstly arranged on a fruit and vegetable handle cutting machine, a scraper assembly is also arranged, the use effect is tested, then a clearance gauge is used for measuring the distance between a cutting edge and the handle cylinder, and the position with overlarge distance is corrected. However, the correction is difficult to operate after the installation is completed, and is limited by the surrounding frame structure, so that the movable space of the correction tool is limited. Correction before installation is easier, surrounding space is not limited, but no detection data is available, data support is absent, and no correction basis is available.
Disclosure of Invention
The invention aims to provide a handle cylinder, a cylindrical surface detection device and a control method thereof, which can quickly and automatically measure data which are difficult to measure by a conventional measuring rule measuring tool, automatically analyze the data, obtain a qualified or unqualified conclusion, provide data support for subsequent correction work, and quickly find a position with larger size deviation by the data so as to be convenient for correct correction work; correction is not needed after installation, so that the movable space of the correction tool is prevented from being limited by the surrounding frame structure; the detection device is convenient to install, and parts without blocking are directly placed on the detection device by means of the hoisting tool, so that the detection device can work.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the technical scheme I, a cylindrical surface detection device of a scissor cylinder comprises a detection assembly; the detection assembly comprises a detection wheel, a detection frame, a displacement sensor, a detection spring and a guide block;
the detection frame is provided with a detection wheel hole, and the detection wheel is connected with the detection wheel hole through a revolute pair; the width of the detection wheel is larger than the diameter of the shearing hole, so that the detection wheel is prevented from sinking into the shearing hole, and the influence on detection data or the interference of the detection wheel on the outer cylindrical surface of the shearing cylinder is avoided;
the detection frame is provided with a detection plane, the detection plane is provided with two guide rods, the first ends of the guide rods are fixedly connected with the detection plane, and the second ends of the guide rods are provided with protruding tables;
the guide block is provided with two guide holes and sensor holes which are parallel to each other, the guide rod is respectively in sliding fit with the guide holes, the detection spring is sleeved on the periphery of the guide rod, the first end of the detection spring is pressed against the detection plane, and the second end of the detection spring is pressed against the guide block; the shell of the displacement sensor is fixedly arranged in the sensor hole, and the detection contact of the displacement sensor is abutted against the detection plane; the direction of the guide rod is the horizontal direction. When the detection assembly does not work, the other end of the guide block presses the protruding table, and the detection assembly sub-assembly cannot be scattered.
The detection assembly further comprises a cylinder, wherein the cylinder is a cylinder with a guide rod, and a piston rod of the cylinder is fixedly connected with the guide block; the direction of the guide rod is parallel to the telescopic direction of the air cylinder.
The technical scheme also comprises a plurality of pairs of second idler wheels and a servo driving assembly; the axes of the pairs of second rollers are arranged along the horizontal direction and the heights of the pairs of second rollers are equal, the shortest distance between the two pairs of second rollers is smaller than the outer diameter of the smooth surface hoop, the smooth surface hoop is placed on the pair of second rollers, the outer cylindrical surface of the smooth surface hoop is tangential to the outer cylindrical surface of the second rollers, the shearing cylinder assembly is placed on the pairs of second rollers by gravity, the axes of the shearing cylinder assembly are horizontal, the shearing cylinder assembly can freely rotate around the horizontal axes of the shearing cylinder assembly, the second rollers passively rotate, rolling friction is generated between the second rollers and the smooth surface hoop, and the friction force is smaller; the servo driving assembly comprises a rotary servo motor and a second gear; the shell of the rotary servo motor is fixedly connected with the frame, an output shaft of the rotary servo motor is fixedly connected with the second gear, the second gear is meshed with gear teeth of the tooth face hoop, and the rotary servo motor drives the shear cylinder assembly to rotate through the second gear and the tooth face hoop. The feeding end of the scissor assembly is defined as the rear, the discharging end is defined as the front, and the left and right of a person are defined as the left and right in the technical scheme respectively on the assumption that the person stands upright facing the front. The detection spring pushes the detection wheel and the detection frame to translate towards the right, and the detection contact of the displacement sensor stretches towards the right to be abutted against the detection plane; the angular speed of the rotary servo motor and the scissor assembly is inversely proportional to the number of teeth of the pair of gears, namely, the angular speed ratio of the rotary servo motor and the scissor assembly is equal to the ratio of the number of teeth of the tooth surface hoop to the number of teeth of the second gear, and the relation can calculate the rotation angle of the rotary servo motor driving the scissor assembly. The second rollers of the multiple pairs are generally two to five pairs, and if the number of the pairs is too large, the coaxiality of each smooth surface hoop is difficult to ensure, so that the detection effect is affected.
The detection assembly further comprises a sliding block and a belt clip; the technical scheme also comprises a translation driving assembly and a linear guide rail; the cylinder body, the sliding block and the belt clip of the cylinder are fixedly connected into a whole; the linear guide rail is fixedly connected with the frame, and the length direction of the linear guide rail is parallel to the direction of the axis of the rotating shaft of the scissor assembly, namely, is arranged along the front-back direction; the sliding block and the linear guide rail form a linear guide rail pair; the cylinder stretches out to the right to drive the detection wheel to translate towards the scissor barrel assembly, the detection wheel is abutted against the outer cylindrical surface of the scissor barrel along the radius direction of the scissor barrel, and the axial lead of the detection wheel is parallel to the axial lead of the scissor barrel assembly and has the same height; the translation driving assembly comprises a synchronous belt, two synchronous wheels and a translation servo motor; the two synchronous wheels are respectively connected with the frame through a revolute pair, the synchronous belt is wound on the two synchronous wheels in a tensioning manner, and the belt clamp clamps one point on the synchronous belt; the shell of the translation servo motor is fixedly connected with the frame, and the output shaft of the translation servo motor is fixedly connected with one of the synchronous wheels. The translation servo motor drives the detection assembly to translate back and forth along the direction parallel to the axis of the scissor assembly through the synchronous belt and the synchronous wheel.
The detection assembly further comprises a middle switch, the middle switch is fixedly arranged on the detection frame, and the detection contact of the middle switch points forward towards the direction parallel to the axial line of the shear cylinder assembly.
The technical scheme also comprises an induction plate assembly and a rotation sensor; the induction plate assembly comprises a rotary induction plate and a magnet which are fixedly connected with each other; the induction plate component is adsorbed on the shear cylinder component by magnetic force; the rotary sensor is fixedly connected with the frame, and the rotary induction plate rotates along with the shear cylinder assembly and generates an electric signal when rotating to a sensitive area of the rotary sensor.
The technical scheme also comprises a translation sensor which is fixedly connected with the frame; the detection assembly further comprises a translation induction plate, and the translation induction plate is fixedly connected with the sliding block; the detection assembly translates towards the rear, i.e. the start end of the detection, and the translation sensing plate generates an electric signal when translating to the sensitive area of the translation sensor.
The technical scheme also comprises a controller, which can be a PLC controller or a singlechip controller; and the displacement sensor, the intermediate switch, the air cylinder, the translation servo motor, the rotation sensor, the translation sensor and the rotation servo motor are respectively and electrically connected with the controller.
The working process of the technical scheme is as follows.
1. The scissor assembly is placed on the plurality of pairs of second rollers such that the feed end of the scissor assembly is rearwardly adjacent the rotation sensor such that the second gear engages the gear teeth of the tooth face hoop.
2. Marking lines are drawn on the rear side wall of the scissor assembly so as to mark the attaching position of the induction plate assembly.
3. The magnet is attracted to the rear side wall of the scissor assembly, and one side of the magnet is aligned with the marking line.
The following initialization step operates automatically.
4. The rotary servo motor drives the scissor barrel assembly to rotate until the rotary induction plate rotates to a sensitive area of the rotary sensor to generate an electric signal. The rotation angle a of the scissor assembly is defined as 0 degrees at this time. The rotation direction of the rotary servo motor is unchanged all the time.
5. The translation servo motor drives the detection assembly to translate towards the rear, the translation induction plate translates to a sensitive area of the translation sensor along with the translation, the translation servo motor stops when an electric signal is generated, and at the moment, the displacement S of the detection wheel in the front-rear direction is defined as 0 millimeter.
6. The cylinder stretches out to the right, detects the translation of wheel towards cutting a section of thick bamboo subassembly through guide block and detection spring drive, the detection wheel is contradicted and can not continue to move to the right on cutting the outer cylinder face of a section of thick bamboo, and the cylinder continues to stretch out, and the compression of drive guide block detects the spring and continues to move to the right, until the cylinder stretches out completely. In the process, the detection contact of the displacement sensor is abutted against the detection plane, the shell of the displacement sensor is fixed on the guide block, the detection contact of the displacement sensor is compressed into the shell to generate displacement, and the displacement delta at the moment is defined as 0 mm. The sensing assembly is adjacent the front face of the last ferrule but does not contact.
7. The method comprises the steps that a translation servo motor drives a detection assembly to translate forwards at a constant speed, wherein the translation distance is S, and the unit is millimeter; the rotary servo motor drives the shear cylinder assembly to rotate, and the angular displacement of the rotation of the shear cylinder assembly is a degrees; the displacement sensor, the translation servo motor and the rotation servo motor collect data at the same time; the detection wheel always abuts against the outer cylindrical surface of the handle cylinder under the action of the detection spring; with the rotation of the translation servo motor and the rotation servo motor, the contact point of the detection wheel and the outer cylindrical surface of the scissor cylinder is continuously changed, the rolling track of the detection wheel on the outer cylindrical surface of the scissor cylinder is actually a spiral line, and the pitch is generally 1 to 3 times the effective width of the detection wheel. The width of the detection wheel is equal to the length of the outer cylindrical surface element line of the detection wheel.
If the shearing cylinder has machining errors, certain parts of the actual outer cylindrical surface deviate from the ideal cylindrical surface, protrude upwards or sink downwards, the detection wheel still collides with the outer cylindrical surface with deviation, and the displacement change of the detection wheel synchronously causes the detection contact of the displacement sensor to retract or extend along with the retraction or extension of the surfaces, the shell of the displacement sensor is fixedly arranged in the sensor hole, and the position in the left-right direction is unchanged, so that the actually acquired data of the displacement sensor is the displacement change value delta millimeter of the point of the outer cylindrical surface of the shearing cylinder relative to the reference value along the radius direction of the shearing cylinder.
8. The translation servo motor and the rotary servo motor are always started, the detection assembly is always translated forwards until the detection contact of the middle switch touches the rear surface of the second hoop from back to front, the translation cannot be continued, otherwise, the detection contact collides with the second hoop, and the data collected before are the first group of data; at this time, the cylinder is retracted to the left rapidly, so that the detection wheel and the detection frame are driven to translate back to the scissor barrel assembly, and the second hoop is avoided.
The displacement sensor, the translation servo motor and the rotary servo motor continuously acquire data, and the translation servo motor and the rotary servo motor continuously start.
The collected data are stored in the form of ordered real numbers (delta, S, a), and the data with three parameters of 0 in the steps 4, 5 and 6, namely, the point of (0, 0) is taken as a reference datum point O.
9. When the translation servo motor drives the detection wheel and the detection frame to translate forwards by a distance D, the cylinder stretches out to the right when enough to avoid the second hoop, the detection wheel is driven to translate towards the scissor barrel assembly, the detection wheel is abutted against the outer cylindrical surface of the scissor barrel and cannot translate towards the right, the cylinder stretches out continuously, and the guide block is driven to compress the detection spring to translate towards the right continuously until the cylinder stretches out completely. The sensing assembly is adjacent the front face of the second ferrule but does not contact. From this point on, the displacement sensor acquires a second set of data. Until the detection contact of the intermediate switch touches the rear surface of the third hoop, the second group of data acquisition is completed.
10. Repeating the steps 8 and 9 twice, wherein the detection contact of the middle switch sequentially touches the rear surfaces of the fourth and fifth hoops, the cylinder is retracted leftwards, the two hoops are avoided and then extend out, and the displacement sensor acquires the data of the third group and the fourth group;
the detection contact of the intermediate switch touches the rear surface of the fifth hoop, the cylinder retracts to the left, the detection wheel and the detection frame are driven to move horizontally back to the scissor barrel assembly, the fifth hoop is avoided, the translation servo motor and the rotation servo motor stop rotating, the displacement sensor, the translation servo motor and the rotation servo motor stop collecting data, and one working cycle is ended.
And taking down the induction plate assembly, removing the shear cylinder assembly, and replacing another shear cylinder assembly to prepare for the next detection.
11. And (5) data analysis. Four sets of data were obtained and each set was analyzed separately.
Taking the first group of data as an example for explanation, taking a prime line of the outer cylindrical surface of the handle cylinder where the reference point O (0, 0) is located as a reference, dividing the circumference of the outer cylindrical surface of the handle cylinder into 360 parts, wherein each part is an arc surface with the angle of 1 degree, and the angle intervals of the arc surfaces are respectively as follows: [0 degrees, 1 degree), [1 degrees, 2 degrees), [2 degrees, 3 degrees), [3 degrees, 4 degrees), … … [359 degrees, 360 degrees).
In the first group of data, all rotation angles a are divided by 360 degrees to obtain a remainder, the remainder can also be decimal, so that a detection point On in the range of 0 degrees and 1 degree falls into an arc surface between the two plain wires, when the barrel shearing assembly is installed On a fruit and vegetable cutting machine to work, the cutting edge of the scraper is fully attached to the plain wires in an ideal state, and in fact, not all points are fully attached due to processing errors. All points falling on the arc surface are subjected to maximum value delta max and minimum value delta min on displacement variation value delta along the radial direction, and difference value (delta max-delta min) of the maximum value delta max and the minimum value delta min is obtained and is used as the maximum error of the radius on the arc surface to judge whether the shape of the area is qualified or not, if the maximum error of the radius is larger than 2 mm, the area is judged to be unqualified, otherwise, the area is not larger than 2 mm, and the area is judged to be qualified.
The remainder is in the interval [1 degree, 2 degrees) and other ranges, and the detection point On analysis method and the determination method are the same as those in the interval [0 degree, 1 degree).
The analysis method and the determination method of the other three sets of data are the same as those of the first set of data.
And if the shape of one small arc surface area is not qualified, the shearing cylinder is not qualified and needs to be repaired.
The outer cylindrical surface of the handle cylinder is not limited to be divided into 360 parts, other numbers of parts can be adopted, the more the number of parts is, the finer the detection is, the number of misjudgment can be reduced, the qualified judgment is prevented from being unqualified, but the calculation amount is large, and the requirement on a controller is higher.
The second technical proposal is that a detection method of the cylindrical surface detection device of the scissor cylinder comprises the following steps:
s1, defining an integer i, wherein i=0;
s2, driving the scissor barrel assembly to rotate by the rotary servo motor;
s3, stopping the rotary servo motor when the rotary sensor generates an electric signal;
s4, the translation servo motor drives the detection assembly to translate backwards;
s5, stopping the translation servo motor when the translation sensor generates an electric signal;
s6, the translation servo motor drives the detection assembly to translate forward at a constant speed; the rotary servo motor drives the scissor barrel assembly to rotate; the displacement sensor, the translation servo motor and the rotation servo motor collect data at the same time;
s7, the cylinder drives the detection wheel and the detection frame to extend to the right;
s8, the intermediate switch generates an electric signal;
s9, assigning i+1 to i;
s10, the cylinder drives the detection wheel and the detection frame to retract to the left;
s11, driving the detection wheel and the detection frame to translate forward by a distance D by the translation servo motor;
S12. if i=4, executing step S13; otherwise, executing the step S7;
s13, ending the program.
The third technical scheme is that the handle-cutting cylinder is detected by the handle-cutting cylinder cylindrical surface detection device in the first technical scheme.
The beneficial effects of the invention are as follows: the data of the shearing cylinder assembly which is difficult to measure by the conventional measuring rule measuring tool can be automatically measured, the data can be automatically analyzed, a qualified or unqualified conclusion can be obtained, data support is provided for subsequent correction work, and a position with larger size deviation can be quickly found through the data, so that the subsequent correction work can be normally carried out. The correction is not needed after the installation, and the correction can be performed in a free state before the installation, so that the limit of the movable space of the correction tool by the surrounding frame structure is avoided. The detection device is convenient to install, and parts without blocking are directly placed on the detection device by means of the hoisting tool, so that the detection device can work. Qualified shearing cylinder components can be rapidly screened out, and the production efficiency is improved; the qualified shearing cylinder assembly is arranged on the fruit and vegetable shearing machine, so that higher fruit and vegetable cutting rate is ensured.
Drawings
FIG. 1 is a schematic view of a three-dimensional structure of embodiment 1 of the present invention, in a state where a scissor assembly is placed;
FIG. 2 is a top view of embodiment 1 of the present invention;
FIG. 3 is an enlarged view at A in FIG. 2;
FIG. 4 is a schematic three-dimensional view of a scissor assembly;
fig. 5 is an enlarged view at B in fig. 4;
FIG. 6 is a schematic view of a three-dimensional structure of embodiment 1 of the present invention, in which the scissor assembly is not placed;
FIG. 7 is a schematic three-dimensional structure of a detection assembly;
FIG. 8 is a schematic three-dimensional structure of a detection frame;
FIG. 9 is a schematic three-dimensional structure of a guide block;
FIG. 10 is a schematic three-dimensional view of a servo drive assembly.
In the figure: 1. a scissor barrel assembly; 11. a handle cutting cylinder; 111. cutting holes; 12. a smooth surface hoop; 121. a rear surface; 13. a tooth surface hoop; 14. an induction plate assembly; 141. rotating the sensing plate; 142. a magnet; 15. marking lines; 2. a detection assembly; 21. a detection wheel; 22. a detection frame; 221. detecting a wheel hole; 222. a detection plane; 223. a guide rod; 224. a boss; 23. a displacement sensor; 24. detecting a spring; 25. an intermediate switch; 26. a guide block; 261. a guide hole; 262. a sensor hole; 27. a cylinder; 28. a slide block; 29. a belt clip; 210. translating the sensing plate; 3. a translational drive assembly; 31. a synchronous belt; 32. a synchronizing wheel; 33. a translation servo motor; 4. a linear guide rail; 5. a second roller; 61. a rotation sensor; 62. a translation sensor; 7. a servo drive assembly; 71. rotating the servo motor; 72. a second gear; 8. a frame.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment 1 referring to fig. 1 to 10, a cylindrical surface detection device of a scissor cylinder comprises a detection assembly 2; the detection assembly 2 comprises a detection wheel 21, a detection frame 22, a displacement sensor 23, a detection spring 24 and a guide block 26;
as shown in fig. 8, the detection frame 22 is provided with a detection wheel hole 221, and the detection wheel 21 is connected with the detection wheel hole 221 through a revolute pair; the width of the detection wheel 21 is larger than the diameter of the shearing hole 111, so that the detection wheel 21 is prevented from sinking into the shearing hole 111, and the influence on detection data or the interference of the detection wheel 21 rolling on the outer cylindrical surface of the shearing cylinder 11 are avoided;
the detection frame 22 is provided with a detection plane 222, the detection plane 222 is provided with two guide rods 223, a first end of each guide rod 223 is fixedly connected with the detection plane 222, and a second end of each guide rod 223 is provided with a boss 224;
As shown in fig. 9, the guide block 26 is provided with two parallel guide holes 261 and sensor holes 262, the guide rods 223 are respectively in sliding fit with the guide holes 261, the detection springs 24 are sleeved on the peripheries of the guide rods 223, the first ends of the detection springs 24 press the detection plane 222, and the second ends of the detection springs 24 press the guide block 26; the shell of the displacement sensor 23 is fixedly arranged in the sensor hole 262, and the detection contact of the displacement sensor 23 is abutted against the detection plane 222; the direction of the guide bar 223 is a horizontal direction. When not in operation, the other end of the guide block 26 presses against the boss 224, and the sub-assembly of the detection assembly 2 does not become scattered.
As shown in fig. 7, the detection assembly 2 further includes a cylinder 27, the cylinder 27 is a cylinder with a guide rod, and a piston rod of the cylinder 27 is fixedly connected with the guide block 26; the direction of the guide rod 223 is parallel to the telescopic direction of the cylinder 27.
As shown in fig. 1, 2 and 6, the present embodiment further includes four pairs of second rollers 5 and a servo drive assembly 7; the axial lines of the four pairs of second rollers 5 are arranged along the horizontal direction and are equal in height, the shortest distance between the two pairs of second rollers 5 is smaller than the outer diameter of the smooth surface hoop 12, the smooth surface hoop 12 is placed on the pair of second rollers 5, the outer cylindrical surface of the smooth surface hoop 12 is tangential to the outer cylindrical surface of the second rollers 5, the shearing cylinder assembly 1 is placed on the four pairs of second rollers 5 by gravity, the axial line of the shearing cylinder assembly 1 is horizontal, the shearing cylinder assembly 1 can freely rotate around the horizontal axial line of the shearing cylinder assembly, the second rollers 5 passively rotate, rolling friction is generated between the second rollers 5 and the smooth surface hoop 12, and the friction force is small; the servo drive assembly 7 comprises a rotary servo motor 71 and a second gear 72; the housing of the rotary servo motor 71 is fixedly connected with the frame 8, the output shaft of the rotary servo motor 71 is fixedly connected with the second gear 72, the second gear 72 is meshed with gear teeth of the tooth face hoop 13, and the rotary servo motor 71 drives the scissor assembly 1 to rotate through the second gear 72 and the tooth face hoop 13. The feed end of the scissor assembly 1 is defined as the rear, the discharge end as the front, assuming a person standing upright with the person facing the front, the left and right of the person are defined as left and right in the present embodiment, respectively. The detection spring 24 pushes the detection wheel 21 and the detection frame 22 to translate towards the right, and the detection contact of the displacement sensor 23 stretches towards the right to be abutted on the detection plane 222; the second gear 72 has 20 teeth, the tooth face hoop 13 has 110 teeth, the number of teeth is fixed, the angular velocity of the rotary servo motor 71 and the scissor assembly 1 is inversely proportional to the number of teeth of the pair of gears, that is, the angular velocity ratio of the rotary servo motor 71 and the scissor assembly 1 is equal to the ratio of the number of teeth of the tooth face hoop 13 to the number of teeth of the second gear 72, which is equal to 110/20, that is, 5.5, and the relation can calculate the rotation angle of the rotary servo motor 71 driving the scissor assembly 1.
As shown in fig. 1, 2, 6 and 7, the detection assembly 2 further comprises a slider 28 and a belt clip 29; the embodiment also comprises a translation driving assembly 3 and a linear guide rail 4; the cylinder body of the air cylinder 27, the sliding block 28 and the belt clip 29 are fixedly connected into a whole; the linear guide rail 4 is fixedly connected with the frame 8, and the length direction of the linear guide rail 4 is parallel to the direction of the axis of the rotation shaft of the scissor assembly 1, namely, is arranged along the front-back direction; the sliding block 28 and the linear guide rail 4 form a linear guide rail pair; the cylinder 27 stretches out to the right to drive the detection wheel 21 to translate towards the scissor assembly 1, the detection wheel 21 is abutted against the outer cylindrical surface of the scissor 11 along the radius direction of the scissor 11, and the axial lead of the detection wheel 21 is parallel to the axial lead of the scissor assembly 1 and has the same height; the translation driving assembly 3 comprises a synchronous belt 31, two synchronous wheels 32 and a translation servo motor 33; the two synchronizing wheels 32 are respectively connected with the frame 8 through a revolute pair, the synchronous belt 31 is wound on the two synchronizing wheels 32 in a tensioning manner, and the belt clamp 29 clamps one point on the synchronous belt 31; the housing of the translation servomotor 33 is fixedly coupled to the frame 8, and the output shaft of the translation servomotor 33 is fixedly coupled to one of the synchronizing wheels 32. The translation servo motor 33 drives the detection assembly 2 to translate back and forth along the direction parallel to the axis of the scissor assembly 1 through the synchronous belt 31 and the synchronous wheel 32.
The detecting assembly 2 further comprises an intermediate switch 25, the intermediate switch 25 is fixedly arranged on the detecting frame 22, and the detecting contact of the intermediate switch 25 is directed forward towards the direction parallel to the axial line of the scissor assembly 1.
As shown in fig. 1, 2, and 4-6, the present embodiment further includes a sensing plate assembly 14 and a rotation sensor 61; the induction plate assembly 14 includes a rotary induction plate 141 and a magnet 142 fixedly coupled to each other; the induction plate assembly 14 is adsorbed on the shear cylinder assembly 1 by magnetic force; the rotation sensor 61 is fixedly connected with the frame 8, and the rotation sensing plate 141 generates an electric signal when rotating to a sensitive area of the rotation sensor 61 along with the rotation of the scissor assembly 1.
As shown in fig. 1, 2 and 6, the present embodiment further includes a translation sensor 62, where the translation sensor 62 is fixedly coupled to the frame 8; the detection assembly 2 further comprises a translation sensing plate 210, and the translation sensing plate 210 is fixedly connected with the sliding block 28; the sensing assembly 2 translates toward the rear, i.e., the beginning of the sensing, and the translation sensing plate 210 generates an electrical signal as it translates to the sensitive area of the translation sensor 62.
The embodiment also comprises a controller, which can be a PLC controller or a singlechip controller; the displacement sensor 23, the intermediate switch 25, the air cylinder 27, the translation servo motor 33, the rotation sensor 61, the translation sensor 62, and the rotation servo motor 71 are electrically coupled to a controller, respectively.
The working procedure of this embodiment is as such.
1. The scissor assembly 1 is placed on the second roller 5 with the feed end of the scissor assembly 1 facing rearward adjacent the rotation sensor 61, with the second gear 72 meshing with the gear teeth of the gear face collar 13.
2. A marking line 15 is drawn on the rear end side wall of the scissor assembly 1 to mark the attachment position of the sensing plate assembly 14.
3. The magnet 142 is attracted to the rear end side wall of the scissor assembly 1, and one side of the magnet 142 is aligned with the marking line 15.
The following initialization step operates automatically.
4. The rotary servo motor 71 drives the scissor assembly 1 to rotate clockwise until the rotary sensing plate 141 rotates to the sensitive area of the rotary sensor 61 to generate an electric signal. The rotation angle a of the scissor assembly 1 is defined as 0 degrees at this time. The rotation direction of the rotary servomotor 71 is unchanged.
5. The translation servo motor 33 drives the detection assembly 2 to translate backward, the translation sensing plate 210 translates to the sensitive area of the translation sensor 62, and the translation servo motor 33 stops when generating an electrical signal, and the displacement S of the detection wheel 21 in the front-rear direction is defined as 0 mm.
6. The cylinder 27 stretches out to the right, the detection wheel 21 is driven to translate towards the scissor assembly 1 through the guide block 26 and the detection spring 24, the detection wheel 21 is abutted against the outer cylindrical surface of the scissor barrel 11 and cannot translate towards the right, the cylinder 27 stretches out continuously, and the guide block 26 is driven to compress the detection spring 24 to translate towards the right continuously until the cylinder 27 stretches out completely. In this process, the detecting contact of the displacement sensor 23 abuts against the detecting plane 222, the housing of the displacement sensor 23 is fixed on the guide block 26, and the detecting contact of the displacement sensor 23 is compressed into the housing to generate displacement, and the displacement delta at this time is defined as 0 mm. The sensing element 2 is located near the front face of the last ferrule but does not touch it.
7. The detection step starts, the translation servo motor 33 drives the detection assembly 2 to translate forward at a constant speed, the translation distance is S, and the unit is millimeter; the rotary servo motor 71 drives the scissor assembly 1 to rotate, and the angular displacement of the scissor assembly 1 in rotation is a degrees; the displacement sensor 23, the translation servo motor 33 and the rotation servo motor 71 collect data simultaneously; the detection wheel 21 always abuts against the outer cylindrical surface of the handle cylinder 11 under the action of the detection spring 24; with the rotation of the translation servo motor 33 and the rotation servo motor 71, the contact point of the detection wheel 21 with the outer cylindrical surface of the scissor drum 11 is constantly changed, the moving track of the detection wheel 21 on the outer cylindrical surface of the scissor drum 11 is actually a spiral line, and the pitch is generally 1 to 3 times the effective width of the detection wheel 21. The width of the detection wheel 21 is equal to the length of the outer cylindrical elementary lines of the detection wheel 21.
If the handle cylinder 11 has a machining error, some parts of the actual outer cylindrical surface deviate from the ideal cylindrical surface, protrude upward or are recessed downward, while the detection wheel 21 still abuts against the outer cylindrical surface with deviation, and as the surfaces retract or extend, the displacement change of the detection wheel 21 synchronously causes the displacement sensor 23 to detect the retraction or extension of the contact, while the housing of the displacement sensor 23 is fixedly installed in the sensor hole 262 with the position in the left-right direction unchanged, so that the data actually collected by the displacement sensor 23 is the displacement change value delta mm of the point of the outer cylindrical surface of the handle cylinder 11 relative to the reference value along the radius direction of the handle cylinder 11.
8. The translation servo motor 33 and the rotation servo motor 71 are always turned on, the detection assembly 2 is always translated forward until the detection contact of the middle switch 25 touches the rear surface 121 of the second hoop from the rear to the front, and the translation cannot be continued, otherwise, the detection contact collides with the second hoop, and the data collected before are the first group of data; at this point the cylinder 27 is retracted to the left, driving the detection wheel 21 and the detection frame 22 to translate away from the scissor assembly 1, avoiding the second hoop.
The displacement sensor 23, the translation servo motor 33 and the rotation servo motor 71 continue to collect data, and the translation servo motor 33 and the rotation servo motor 71 continue to turn on.
The collected data are stored in the form of ordered real numbers (delta, S, a), and the data with three parameters of 0 in the steps 4, 5 and 6, namely, the point of (0, 0) is taken as a reference datum point O.
9. When the translation servo motor 33 drives the detection wheel 21 and the detection frame 22 to translate forward by a distance d=150 mm, enough to avoid the second hoop, the air cylinder 27 stretches out to the right, the detection wheel 21 is driven to translate towards the scissor assembly 1, the detection wheel 21 is abutted against the outer cylindrical surface of the scissor barrel 11 and cannot translate towards the right, the air cylinder 27 continues to stretch out, and the guide block 26 is driven to compress the detection spring 24 to translate towards the right until the air cylinder 27 is fully stretched out. The sensing element 2 is located adjacent the front face of the second ferrule but does not contact it. From this point on, the displacement sensor 23 acquires a second set of data. Until the detection contact of the intermediate switch 25 touches the rear surface of the third hoop, the second set of data is acquired.
10. Repeating the steps 8 and 9 twice, wherein the detection contact of the intermediate switch 25 sequentially touches the rear surfaces of the fourth and fifth hoops, the air cylinder 27 is retracted leftwards, the two hoops are avoided and then extend out, and the displacement sensor 23 acquires a third group of data and a fourth group of data;
the detection contact of the intermediate switch 25 touches the rear surface of the fifth hoop, the air cylinder 27 is retracted to the left, the detection wheel 21 and the detection frame 22 are driven to translate back to the scissor assembly 1, the fifth hoop is avoided and kept, the translation servo motor 33 and the rotation servo motor 71 stop rotating, the displacement sensor 23, the translation servo motor 33 and the rotation servo motor 71 stop collecting data, and one working cycle is ended.
The sensing plate assembly 14 is removed, the shear cylinder assembly 1 is removed, and another shear cylinder assembly is replaced for the next detection.
11. And (5) data analysis. Four sets of data were obtained and each set was analyzed separately.
Taking the first group of data as an example for explanation, taking a prime line of the outer cylindrical surface of the handle cylinder 11 where the reference point O (0, 0) is located as a reference, dividing the circumference of the outer cylindrical surface of the handle cylinder 11 into 360 parts, wherein each part is an arc surface with the angle of 1 degree, and the angle intervals of the arc surfaces are respectively: [0 degrees, 1 degree), [1 degrees, 2 degrees), [2 degrees, 3 degrees), [3 degrees, 4 degrees), … … [359 degrees, 360 degrees); the arc surface between the two dot-dash lines indicated by the two dot-dash lines shown in fig. 4 is an arc surface within the interval [0 degree, 1 degree ].
In the first group of data, all the rotation angles a are divided by 360 degrees to obtain a remainder, the remainder can also be decimal, and then the remainder falls On an arc surface between the two plain wires at a detection point On within the range of 0 degrees and 1 degree, as shown in fig. 4 and 5, when the barrel shearing assembly 1 is installed On a fruit and vegetable cutting machine to work, the cutting edge of a scraper is fully attached to the plain wires in an ideal state, and in fact, because of processing errors, not all the points are fully attached. All points falling on the arc surface are subjected to maximum value delta max and minimum value delta min on displacement variation value delta along the radial direction, and difference value (delta max-delta min) of the maximum value delta max and the minimum value delta min is obtained and is used as the maximum error of the radius on the arc surface to judge whether the shape of the area is qualified or not, if the maximum error of the radius is larger than 2 mm, the area is judged to be unqualified, otherwise, the area is not larger than 2 mm, and the area is judged to be qualified.
For example, in a certain test, Δmax=0.654 mm, Δmin= -0.201 mm, Δmax- Δmin=0.855 mm, and less than 2 mm, on the arc surface, the shape of the region is acceptable. The cutting edge of the scraper is attached to the regional element wire, points on the element wire can be completely attached, gaps are reserved between the points and the cutting edge, the maximum value of the distance is 0.855 mm, and the scraper can effectively scrape the fruit and vegetable handles at the distance.
In another test, Δmax= 2.324 mm, Δmin=0.201 mm, Δmax- Δmin=2.123 mm, and more than 2 mm on the arc surface, the shape of the region is unacceptable. The edge of the scraper is attached to the element line of the area, some points on the element line can be completely attached, some points are separated from the edge by gaps, the maximum distance is 2.123 mm, and the scraper can not effectively scrape the fruit and vegetable handle under the maximum distance.
The remainder is in the interval [1 degree, 2 degrees) and other ranges, and the detection point On analysis method and the determination method are the same as those in the interval [0 degree, 1 degree).
The analysis method and the determination method of the other three sets of data are the same as those of the first set of data.
In the final result judging method, the shapes of all small arc surface areas are qualified, the outer cylindrical surface shape of the handle cylinder 11 is qualified, otherwise, the shape of one small arc surface area is not qualified, the handle cylinder 11 is not qualified, and repair is needed.
Embodiment 2, a method for detecting a cylindrical surface detection device of a scissor cylinder, comprising the following steps:
s1, defining an integer i, wherein i=0;
s2, a rotary servo motor 71 drives the scissor cylinder assembly 1 to rotate;
s3, stopping the rotary servo motor 71 when the rotary sensor 61 generates an electric signal;
S4, the translation servo motor 33 drives the detection assembly 2 to translate backwards;
s5, stopping the translation servo motor 33 when the translation sensor 62 generates an electric signal;
s6, the translation servo motor 33 drives the detection assembly 2 to translate forward at a constant speed; the rotary servo motor 71 drives the scissor cylinder assembly 1 to rotate; the displacement sensor 23, the translation servo motor 33 and the rotation servo motor 71 collect data simultaneously;
s7, driving the detection wheel 21 and the detection frame 22 to extend to the right by the air cylinder 27;
s8, an intermediate switch 25 generates an electric signal;
s9, assigning i+1 to i;
s10, the cylinder 27 drives the detection wheel 21 and the detection frame 22 to retract leftwards;
s11, a translation servo motor 33 drives the detection wheel 21 and the detection frame 22 to translate forward by a distance D;
s12. if i=4, executing step S13; otherwise, executing the step S7;
s13, ending the program.
Embodiment 3, a handle cylinder is detected by the handle cylinder cylindrical surface detection device of embodiment 1.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the present invention and the equivalent techniques thereof, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The cylindrical surface detection device of the scissor cylinder comprises a detection assembly (2); the method is characterized in that: the detection assembly (2) comprises a detection wheel (21), a detection frame (22), a displacement sensor (23), a detection spring (24) and a guide block (26); the detection frame (22) is provided with a detection wheel hole (221), and the detection wheel (21) is connected with the detection wheel hole (221) through a revolute pair; the detection frame (22) is provided with a detection plane (222), the detection plane (222) is provided with two guide rods (223), and the first ends of the guide rods (223) are fixedly connected with the detection plane (222); two parallel guide holes (261) and sensor holes (262) are formed in the guide block (26), the guide rods (223) are respectively in sliding fit with the guide holes (261), the detection springs (24) are sleeved on the peripheries of the guide rods (223), the first ends of the detection springs (24) are pressed against the detection plane (222), and the second ends of the detection springs (24) are pressed against the guide block (26); the shell of the displacement sensor (23) is fixedly arranged in the sensor hole (262), and the detection contact of the displacement sensor (23) is abutted against the detection plane (222); the direction of the guide rod (223) is the horizontal direction.
2. The cylinder surface detection device of the scissor cylinder as set forth in claim 1, wherein: the detection assembly (2) further comprises an air cylinder (27), the air cylinder (27) is an air cylinder with a guide rod, and a piston rod of the air cylinder (27) is fixedly connected with the guide block (26); the direction of the guide rod (223) is parallel to the telescopic direction of the air cylinder (27).
3. A cylinder surface detection device for a scissor drum as set forth in claim 2, wherein: the device also comprises a plurality of pairs of second rollers (5) and a servo driving assembly (7); the axial leads of the pairs of second rollers (5) are arranged along the horizontal direction and have equal heights, the shortest distance between the two pairs of second rollers (5) is smaller than the outer diameter of the smooth surface hoop (12), the smooth surface hoop (12) is placed on the pair of second rollers (5), and the axial lead of the scissor barrel assembly (1) is horizontal; the servo drive assembly (7) comprises a rotary servo motor (71) and a second gear (72); the shell of the rotary servo motor (71) is fixedly connected with the frame (8), an output shaft of the rotary servo motor (71) is fixedly connected with the second gear (72), the second gear (72) is meshed with gear teeth of the tooth surface hoop (13), and the rotary servo motor (71) drives the shear cylinder assembly (1) to rotate through the second gear (72) and the tooth surface hoop (13).
4. A cylinder surface detection apparatus for a scissor drum as set forth in claim 3, wherein: the detection assembly (2) further comprises a sliding block (28) and a belt clip (29); the device also comprises a translation driving assembly (3) and a linear guide rail (4); the cylinder body of the cylinder (27), the sliding block (28) and the belt clip (29) are fixedly connected into a whole; the linear guide rail (4) is fixedly connected with the frame (8), and the length direction of the linear guide rail (4) is parallel to the direction of the axis of the rotary shaft of the shear cylinder assembly (1); the sliding block (28) and the linear guide rail (4) form a linear guide rail pair; the cylinder (27) stretches out to the right to drive the detection wheel (21) to translate towards the scissor barrel assembly (1), the detection wheel (21) is abutted against the outer cylindrical surface of the scissor barrel (11) along the radius direction of the scissor barrel (11), and the axial lead of the detection wheel (21) is parallel to the axial lead of the scissor barrel assembly (1) and is equal in height; the translation driving assembly (3) comprises a synchronous belt (31), two synchronous wheels (32) and a translation servo motor (33); the two synchronous wheels (32) are respectively connected with the frame (8) through a revolute pair, the synchronous belt (31) is wound on the two synchronous wheels (32) in a tensioning manner, and the belt clamp (29) clamps one point on the synchronous belt (31); the outer shell of the translation servo motor (33) is fixedly connected with the frame (8), and the output shaft of the translation servo motor (33) is fixedly connected with one of the synchronous wheels (32).
5. The cylinder surface detection device of the scissor tube as set forth in claim 4, wherein: the detection assembly (2) further comprises an intermediate switch (25), the intermediate switch (25) is fixedly arranged on the detection frame (22), and a detection contact of the intermediate switch (25) faces forward.
6. The cylinder surface detection device of claim 5, wherein: also comprises a sensing plate assembly (14) and a rotation sensor (61); the induction plate assembly (14) comprises a rotary induction plate (141) and a magnet (142) which are fixedly connected with each other; the induction plate assembly (14) is adsorbed on the shear cylinder assembly (1) by magnetic force; the rotary sensor (61) is fixedly connected with the frame (8), and the rotary induction plate (141) rotates along with the shear cylinder assembly (1) and generates an electric signal when rotating to a sensitive area of the rotary sensor (61).
7. The cylinder surface detection device of the scissor tube as set forth in claim 6, wherein: the device also comprises a translation sensor (62), wherein the translation sensor (62) is fixedly connected with the frame (8); the detection assembly (2) further comprises a translation induction plate (210), and the translation induction plate (210) is fixedly connected with the sliding block (28); the detection assembly (2) translates backwards, and the translation sensing plate (210) generates an electrical signal as it translates to the sensitive area of the translation sensor (62).
8. The cylinder surface detection device of claim 7, wherein: also comprises a controller; the displacement sensor (23), the intermediate switch (25), the air cylinder (27), the translation servo motor (33), the rotation sensor (61), the translation sensor (62) and the rotation servo motor (71) are respectively and electrically coupled with the controller.
9. The control method of a cylinder surface detection device of a handle cylinder as set forth in claim 8, comprising the steps of:
s1, defining an integer i, wherein i=0;
s2, a rotary servo motor (71) drives the scissor barrel assembly (1) to rotate;
s3, stopping the rotary servo motor (71) when the rotary sensor (61) generates an electric signal;
s4, a translation servo motor (33) drives the detection assembly (2) to translate backwards;
s5, stopping the translation servo motor (33) when the translation sensor (62) generates an electric signal;
s6, a translation servo motor (33) drives the detection assembly (2) to translate forwards; a rotary servo motor (71) drives the scissor cylinder assembly (1) to rotate; the displacement sensor (23), the translation servo motor (33) and the rotation servo motor (71) collect data simultaneously;
s7, a cylinder (27) drives the detection wheel (21) and the detection frame (22) to extend towards the right;
S8, an intermediate switch (25) generates an electric signal;
s9, assigning i+1 to i;
s10, a cylinder (27) drives the detection wheel (21) and the detection frame (22) to retract leftwards;
s11, a translation servo motor (33) drives a detection wheel (21) and a detection frame (22) to translate forward by a distance D;
s12. if i=4, executing step S13; otherwise, executing the step S7;
s13, ending the program.
10. A handle cylinder, characterized by being detected by the handle cylinder cylindrical surface detecting device according to claim 8.
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