CN113218870B - Crack micro-distance detection system of piezoelectric ceramic stack and working method - Google Patents
Crack micro-distance detection system of piezoelectric ceramic stack and working method Download PDFInfo
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- CN113218870B CN113218870B CN202110599882.8A CN202110599882A CN113218870B CN 113218870 B CN113218870 B CN 113218870B CN 202110599882 A CN202110599882 A CN 202110599882A CN 113218870 B CN113218870 B CN 113218870B
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Abstract
The invention discloses a crack micro-distance detection system of a piezoelectric ceramic stack, which comprises a base, wherein a horizontal fixed platform is supported above the base through a supporting piece, the piezoelectric ceramic stack formed by overlapping a plurality of horizontal annular piezoelectric ceramic plates is placed on the fixed platform, and the crack micro-distance detection system further comprises an automatic micro-distance crack detection mechanism, wherein the automatic micro-distance crack detection mechanism can detect each annular piezoelectric ceramic plate on the piezoelectric ceramic stack successively; the scheme of the invention can realize local micro-distance detection, and can obtain a crack detection mechanism of the whole image on the result, so that the high-definition shooting task can be completed under the condition of lower configuration of a micro-distance 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 plates;
in the laminated piezoelectric ceramic, if any piezoelectric ceramic piece has tiny cracks, the overall performance of the laminated piezoelectric ceramic is affected, and when the laminated piezoelectric ceramic is subjected to crack detection, whether the tiny cracks exist on the front side and the back side of each annular piezoelectric ceramic piece is detected one by one;
However, crack detection for the piezoelectric ceramic plates does not appear in the existing detection mechanism, the detection efficiency of manually detecting each piezoelectric ceramic plate one by one is extremely low, and small cracks on the surface are difficult to distinguish by naked eyes, so that the possibility of false detection is increased;
the micro-distance camera can amplify the local surface of the object, so that the accuracy of detection is higher than that of naked eyes; the applicant believes that it is possible to design an automated detection system based on macro cameras.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a crack micro-distance detection system capable of realizing double-sided and high-definition piezoelectric ceramic stacks by one camera and a working method thereof.
The technical scheme is as follows: in order to achieve the above purpose, the crack micro-distance detection system of the piezoelectric ceramic stack comprises a base, wherein a horizontal fixing platform is supported above the base through a supporting piece, the piezoelectric ceramic stack formed by overlapping a plurality of horizontal annular piezoelectric ceramic plates is placed on the fixing platform, and the crack micro-distance detection system further comprises an automatic micro-distance crack detection mechanism, wherein the automatic micro-distance crack detection mechanism can detect each annular piezoelectric ceramic plate on the piezoelectric ceramic stack successively.
Further, the upper side of the fixed platform is provided with a plurality of vertical piezoelectric ceramic stack restraining columns distributed in a circumferential array along the contour edge, and the piezoelectric ceramic stacks are restrained in the enclosing range of the plurality of piezoelectric ceramic stack restraining columns distributed in the circumferential array in the overlooking view.
Further, the vertical expansion joint is installed to fixed platform's below, the fretwork is provided with the telescopic link and passes the hole on the fixed platform, the vertical telescopic link of expansion joint can upwards pass the telescopic link passes the hole, the upper end of vertical telescopic link pushes up the lower surface of a horizontal annular piezoceramics piece of piezoceramics heap lower extreme, and the upward extension of vertical telescopic link enables the whole upward displacement of piezoceramics heap.
Further, the automatic micro-crack detection mechanism comprises a mechanical arm part and a detection executing part, the detection executing part of the automatic micro-crack detection mechanism comprises two working states, and the two working states of the automatic micro-crack detection mechanism are respectively marked as a transverse gesture executing part and a vertical gesture executing part.
Further, the lower surface of a horizontal annular piezoelectric ceramic plate at the uppermost end of the piezoelectric ceramic stack is level with the height of the upper end of the column body of each piezoelectric ceramic stack restraining column;
The transverse gesture execution part comprises a first rolling riding wheel and a second rolling riding wheel which are horizontally arranged in parallel, and a poking finger and a braking finger which are horizontally arranged in parallel; the first rolling support wheel, the second rolling support wheel, the poking finger and the braking finger are all leveled with a horizontal annular piezoelectric ceramic sheet at the uppermost end of the piezoelectric ceramic stack, and the first rolling support wheel, the second rolling support wheel, the poking finger and the braking finger are distributed around the horizontal annular piezoelectric ceramic sheet at the uppermost end of the piezoelectric ceramic stack;
the outer ring of the first rolling support wheel is provided with a first annular rolling groove, the outer ring of the second rolling support wheel is provided with a second annular rolling groove, and the groove widths of the first annular rolling groove and the second annular rolling groove are consistent with the plate thickness of the annular piezoelectric ceramic plate;
one end of the poking finger, which is far away from the braking finger, is fixedly connected with a vertical first finger driving rotating shaft, and one end of the braking finger, which is far away from the poking 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 the overlooking view, the clockwise rotation of the first finger driving rotating shaft and the anticlockwise rotation of the second finger driving rotating shaft can drive the poking end of the poking finger and the braking end of the braking finger to push a horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack towards the direction close to the first rolling supporting wheel and the second rolling supporting wheel, and enable the horizontal annular piezoelectric ceramic piece at the uppermost end of the piezoelectric ceramic stack to horizontally slide 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 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 gesture execution part further comprises a first rotating shaft driving motor and a second rotating shaft driving motor which are respectively in driving connection with the first finger driving rotating shaft and the second finger driving rotating shaft; the device also comprises a first bracket in an arch shape, wherein a first roller shaft with the upper end coaxial with the first roller and a second roller shaft with the upper end coaxial with the second roller are respectively and rotatably arranged in two bearing holes on the first bracket through bearings; a first swing arm driving motor is arranged on the upper side of the middle of the first bracket, a first swing arm driving shaft at the output end of the first swing arm driving motor is vertically upwards, the upper end of the first swing arm driving shaft is vertically and fixedly connected with a first swing arm, and a shell of the first rotating shaft driving motor is fixed at the tail end of the first swing arm; the upper part of the first bracket is provided with an arched second bracket in parallel, the lower sides of the two ends of the second bracket are fixedly connected with the first bracket through supporting columns, a second swing arm driving motor is arranged on the lower side of the middle part of the second bracket, a second swing arm driving shaft at the output end of the second swing arm driving motor is vertically downward, the axis of the second swing arm driving shaft coincides with the axis of the first swing arm driving shaft, the lower end of the second swing arm driving shaft is vertically and fixedly connected with a second swing arm, and a shell of the second rotating shaft driving motor is fixed at the tail end of the second swing arm;
The device comprises a first bracket, a second bracket, a connecting seat, a first bracket and a second bracket, wherein the first bracket is fixedly connected with the first bracket, the second bracket is fixedly connected with the second bracket, and the second bracket is fixedly connected with the first bracket; the first bracket swings upwards by 90 degrees along the axis of the output shaft of the gesture adjusting motor, and then the transverse gesture executing part is converted into a vertical gesture executing part;
in a state of the vertical posture executing 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 plate with horizontal axes, and the axes of the annular piezoelectric ceramic plate upwards supported by the first annular rolling groove and the second annular rolling groove are overlapped with the axes of the first swing arm driving shaft and the second swing arm driving shaft;
in the state of the vertical gesture 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 the outer contour of the annular piezoelectric ceramic piece;
the 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 perpendicularly intersected with the axes of the output shaft, the first swing arm driving shaft and the second swing arm driving shaft at the same time, a micro-distance camera is fixedly installed at the tail end of the camera supporting arm, and the axis of a lens of the micro-distance camera is perpendicular to the axis of the rotating shaft;
In the state of the vertical posture executing part, a local range of one side surface of the annular piezoelectric ceramic piece lifted up by the first annular rolling groove and the second annular rolling groove falls in the lens sight range of the macro camera, and after the annular piezoelectric ceramic piece lifted up 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 range of the macro camera sweeps the whole surface of one side of the annular piezoelectric ceramic piece;
in the state of the vertical posture executing part, after the rotating shaft of the camera adjusting motor rotates 180 degrees, the local range of the other side surface of the annular piezoelectric ceramic piece supported upwards by the first annular rolling groove and the second annular rolling groove falls in the lens sight range of the micro-distance camera.
Further, 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 micro-distance detection system of the piezoelectric ceramic stack comprises the following steps: the method comprises the following steps:
controlling the telescopic device, and extending the vertical telescopic rod upwards to enable the piezoelectric ceramic stack to wholly displace upwards until the lower surface of a horizontal annular piezoelectric ceramic plate at the uppermost end of the piezoelectric ceramic stack is level with the height of the upper end of the column body of each piezoelectric ceramic stack restraining column; the state of the detection executing part of the automatic micro-crack detection mechanism is a transverse gesture executing part in the initial state, and at the moment, the first rolling supporting wheel, the second rolling supporting wheel, the poking fingers and the braking fingers are distributed around the horizontal annular piezoelectric ceramic plate at the uppermost end of the piezoelectric ceramic stack and do not contact with the horizontal annular piezoelectric ceramic plate at the uppermost end of the piezoelectric ceramic stack;
Controlling a first rotating shaft driving motor and a second rotating shaft driving motor simultaneously, further respectively driving the first finger driving rotating shaft to rotate clockwise and the second finger driving rotating shaft to rotate anticlockwise, further enabling a poking end of poking fingers and a braking end of braking fingers to push a horizontal annular piezoelectric ceramic plate at the uppermost end of the piezoelectric ceramic stack in a direction close to the first rolling supporting wheel and the second rolling supporting wheel, and enabling the horizontal annular piezoelectric ceramic plate at the uppermost end of the piezoelectric ceramic stack to slide horizontally in a direction gradually close to the first rolling supporting wheel and the second rolling supporting wheel;
step three, continuously running, wherein a horizontal annular piezoelectric ceramic plate at the uppermost end of the piezoelectric ceramic stack horizontally slides towards the direction gradually approaching to the first rolling supporting wheel and the second rolling supporting wheel until the contour edges of the horizontal annular piezoelectric ceramic plate at the uppermost end of the piezoelectric ceramic stack are clamped into the first annular rolling groove and the 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 plate at the uppermost end of the piezoelectric ceramic stack; the poking end of the poking finger and the braking end of the braking finger also tightly push against the outer contour of a horizontal annular piezoelectric ceramic plate at the uppermost end of the piezoelectric ceramic stack, so that the horizontal annular piezoelectric ceramic plate at the uppermost end of the piezoelectric ceramic stack is completely clamped by the transverse gesture execution part; the axis of the annular piezoelectric ceramic piece clamped by the transverse posture executing part is overlapped with the axis of the first swing arm driving shaft and the axis of the second swing arm driving shaft;
Controlling a posture adjustment motor to enable an output shaft to drive a first bracket to swing upwards gradually along the axis of the output shaft of the posture adjustment motor, enabling an annular piezoelectric ceramic piece clamped by a transverse posture execution part to swing upwards, and enabling the transverse posture execution part to be converted into a vertical posture execution part after the first bracket swings upwards by 90 degrees along the axis of the output shaft of the posture adjustment motor;
in the state of the vertical posture executing part, the first annular rolling grooves and the second annular rolling grooves of the first rolling supporting wheels and the second rolling supporting wheels upwards support annular piezoelectric ceramic plates with horizontal axes; a local range of one side surface of the annular piezoelectric ceramic piece supported upwards by the first annular rolling groove and the second annular rolling groove falls in the view range of the lens of the macro camera, and the macro camera is always in an on state in the subsequent process;
controlling the first rotating shaft driving motor to output constant torque, so that a poking end poking the tail end of the finger abuts against the outer contour of the annular piezoelectric ceramic piece; meanwhile, the second rotating shaft driving motor is controlled to enable the braking end at the tail end of the braking finger to swing upwards, so that 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 to enable the first swing arm and the poking finger to swing a degrees anticlockwise along the axis of the first swing arm driving shaft, and then the poking end of the poking finger slowly rotates a degrees anticlockwise under the action of friction force along with anticlockwise poking the clamped annular piezoelectric ceramic piece; 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 pushes against the outer contour of the annular piezoelectric ceramic piece, and the annular piezoelectric ceramic piece is in a braking state under the action of static friction force of the braking end;
Step six, controlling a first rotary shaft driving motor to enable a poking end at the tail end of a poking finger to swing upwards, so that the poking end is separated from the outer contour of the annular piezoelectric ceramic plate, and the annular piezoelectric ceramic plate supported upwards by the first annular rolling groove and the second annular rolling groove cannot spontaneously rotate because the braking end downwards pushes against the outer contour of the annular piezoelectric ceramic plate; 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 a 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 of the poking finger to swing downwards to the outer contour of the re-jacking ring-shaped piezoelectric ceramic piece;
step seven, repeating the step five and the step six for N times, so that the total anticlockwise rotation angle of the clamped annular piezoelectric ceramic plates is N a degrees, and when the N a degrees are larger than or equal to 360 degrees, the annular piezoelectric ceramic plates supported upwards by the first annular rolling groove and the second annular rolling groove are at least anticlockwise accumulated and rotated for 360 degrees along the axis of the annular piezoelectric ceramic plates, so that the lens sight range of the macro camera sweeps the whole surface of one side of the annular piezoelectric ceramic plates; 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 one side surface of the annular piezoelectric ceramic piece, and crack detection on one side surface of the annular piezoelectric ceramic piece is realized;
Step eight, controlling a rotating shaft of a camera adjusting motor to rotate 180 degrees, so that the partial range of the other side surface of the annular piezoelectric ceramic piece supported upwards by the first annular rolling groove and the second annular rolling groove falls in the view range of a lens of the micro-distance camera, and referring to the step five, the step six and the step seven, the crack detection on the other side surface of the annular piezoelectric ceramic piece is realized;
step nine, the first swing arm swings anticlockwise to be horizontal, the second swing arm swings clockwise to be horizontal, the pulling end and the braking end 20.1 are separated from the outer contour of the annular piezoelectric ceramic plate, and at the moment, the annular piezoelectric ceramic plate which is supported upwards by the first annular rolling groove and the second annular rolling groove and has been detected on both sides can be taken out smoothly upwards.
The beneficial effects are that: the scheme of the invention can realize local shooting, but can obtain a crack detection mechanism of the whole image, so that the high-definition shooting task can be completed under the condition of lower configuration of a macro camera: the method is characterized in that the step five and the step six are repeated for N times, so that the total anticlockwise rotation angle of the clamped annular piezoelectric ceramic plates is N a degrees, and when the N a degrees are larger than or equal to 360 degrees, the annular piezoelectric ceramic plates supported upwards by the first annular rolling groove and the second annular rolling groove are at least anticlockwise accumulated and rotated for 360 degrees along the axis of the annular piezoelectric ceramic plates, so that the lens sight range of the macro camera is scanned on the whole surface of one side of the annular piezoelectric ceramic plates; 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 one side surface of the annular piezoelectric ceramic piece, and crack detection on one side surface of the annular piezoelectric ceramic piece is realized;
Drawings
FIG. 1 is a schematic view of the overall structure of the present device in a first state (the state of the figure is a lateral posture executing section);
FIG. 2 is an enlarged schematic view of the structure shown at 35 in FIG. 1;
fig. 3 is a schematic diagram of the overall structure of the device in a second state (the state of the figure is a vertical posture executing part);
FIG. 4 is a schematic diagram of a piezoelectric ceramic stack structure;
FIG. 5 is an enlarged schematic view of FIG. 4;
FIG. 6 is a schematic diagram at the end of "step one";
FIG. 7 is a schematic diagram of the "step two" state;
FIG. 8 is a schematic diagram at the end of "step three";
FIG. 9 is a schematic diagram at the end of "step four" (and is also an enlarged schematic diagram of reference numeral 70 of FIG. 3);
FIG. 10 is another view at the end of "step four" (and also shown in FIG. 3 in enlarged view);
FIG. 11 is a schematic view of the outer contour of the annular piezoelectric ceramic plate of FIG. 10, showing the breaking end of the finger breaking tip being disengaged;
FIG. 12 is a schematic view showing the outer contour of the annular piezoelectric ceramic plate separated from the poking end of the poking finger on the basis of FIG. 10;
FIG. 13 is a schematic diagram of the camera adjustment motor in step eight after the rotation of the rotation axis by 180 degrees;
fig. 14 is a schematic diagram at the end of "step nine".
Detailed Description
The invention will be further described with reference to the accompanying drawings, wherein all motors mentioned in the present application are in a braking state when not in operation.
The crack micro-distance detection system of the piezoelectric ceramic stack as shown in fig. 1 to 14 comprises a base 36, a horizontal fixing platform 23 is supported above the base 36 through a supporting piece 27, the piezoelectric ceramic stack 24 formed by overlapping a plurality of horizontal annular piezoelectric ceramic plates 50 is placed on the fixing platform 23, in this embodiment, two adjacent annular piezoelectric ceramic plates 50 are still in a non-bonding state and can slide relatively, and the crack micro-distance detection system further comprises an automatic micro-distance crack detection mechanism, wherein the automatic micro-distance crack detection mechanism can detect each annular piezoelectric ceramic plate 50 on the piezoelectric ceramic stack 24 successively.
The upper side of the fixed platform 23 is provided with a plurality of vertical piezoelectric ceramic stack restraining columns 22 distributed in a circumferential array along the contour edge, and the piezoelectric ceramic stacks 24 are restrained within the enclosing range of the plurality of piezoelectric ceramic stack restraining columns 22 distributed in a circumferential array in a top view.
The vertical expansion joint 26 is installed to the below of fixed platform 23, the fretwork is provided with telescopic link and passes hole 38 on the fixed platform 23, the vertical telescopic link 37 of expansion joint 26 can upwards pass telescopic link passes hole 38, the upper end of vertical telescopic link 37 pushes up the lower surface of a horizontal cyclic annular piezoceramics piece 50 of piezoceramics heap 24 lower extreme, and the upward extension of vertical telescopic link 37 enables the whole upward displacement of piezoceramics heap 24.
The automatic micro-crack detection mechanism comprises a mechanical arm part 1 and a detection executing part, the detection executing part of the automatic micro-crack detection mechanism comprises two working states, and the two working states of the automatic micro-crack detection mechanism are respectively marked as a transverse gesture executing part 35 and a vertical gesture executing part 70.
The lower surface of a horizontal annular piezoelectric ceramic plate 50 at the uppermost end of the piezoelectric ceramic stack 24 is level with the height of the upper end 22.1 of the cylinder of each piezoelectric ceramic stack restraining column 22;
the transverse posture executing part 35 comprises a first roller supporting wheel 5, a second roller supporting wheel 29 which are horizontally arranged in parallel, a poking 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 poking finger 16 and the braking finger 20 are all leveled with a horizontal annular piezoelectric ceramic sheet 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 poking finger 16 and the braking finger 20 are distributed around the horizontal annular piezoelectric ceramic sheet 50 at the uppermost end of the piezoelectric ceramic stack 24;
the outer ring of the first roller supporting wheel 5 is provided with a first annular rolling groove 4, the outer ring of the second roller supporting wheel 29 is provided with a second annular rolling groove 25, 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 poking finger 16 far away from the braking finger 20 is fixedly connected with a vertical first finger driving rotating shaft 15, and one end of the braking finger 20 far away from the poking finger 16 is fixedly connected with a vertical second finger driving rotating shaft 19; the tail end of the poking finger 16 is a poking end 16.1, and the tail end of the braking finger 20 is a braking end 20.1;
under the top view, 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 stirring end 16.1 of the stirring 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 towards the direction close to the first rolling supporting wheel 5 and the second rolling supporting wheel 29, and enable the uppermost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24 to horizontally slide until the contour edge of the uppermost 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 uppermost horizontal annular piezoelectric ceramic piece 50 of the piezoelectric ceramic stack 24;
the lateral posture executing section 35 further includes a first rotation shaft driving motor 14 and a second rotation shaft driving motor 18, and the first rotation shaft driving motor 14 and the second rotation shaft driving motor 18 are respectively connected with the first finger driving rotation shaft 15 and the second finger driving rotation shaft 19 in a driving manner; the novel roller support further comprises a first bracket 6 in an arc shape, wherein a first roller shaft 7 with the same axle center at the upper end of the first roller support 5 and a second roller shaft 28 with the same axle center at the upper end of the second roller support 29 are respectively 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 bracket 6, a first swing arm driving shaft 40 at the output end of the first swing arm driving motor 11 faces upwards vertically, a first swing arm 13 is fixedly connected to the upper end of the first swing arm driving shaft 40 vertically, and a shell of the first rotating shaft driving motor 14 is fixed at the tail end of the first swing arm 13; the upper side of the first bracket 6 is provided with an arc-shaped second bracket 10 in parallel, the lower sides of the two ends of the second bracket 10 are fixedly connected with the first bracket 6 through support columns 8, a second swing arm driving motor 12 is arranged on the lower side of the middle part of the second bracket 10, a second swing arm driving shaft 39 at the output end of the second swing arm driving motor 12 is vertically downward, the axis of the second swing arm driving shaft 39 coincides 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 the shell of the second rotating shaft driving motor 18 is fixed at the tail end of the second swing arm 17;
The device further comprises a posture adjusting motor 2 arranged at the tail end of the mechanical arm part 1, wherein the axis of an output shaft 32 of the posture adjusting motor 2 is horizontal, the side part of the output shaft 32 of the posture adjusting motor 2 is fixedly connected with an arc-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 bracket 6, so that the first bracket 6 rotates along with the output shaft 32 of the posture adjusting motor 2; after the first bracket 6 swings upwards by 90 ° along the axis of the output shaft 32 of the attitude adjusting motor 2, the transverse attitude actuator 35 is converted into a vertical attitude actuator 70;
in the state of the vertical posture execution section 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 up the annular piezoelectric ceramic sheet 50 with the axes horizontal, and the axes of the annular piezoelectric ceramic sheet 50 lifted up by the first annular rolling groove 4 and the second annular rolling groove 25 coincide 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 section 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 plate 50;
The camera adjusting motor 33 is fixedly installed on the connecting seat 31, the arc-shaped camera supporting arm 34 is connected to the rotating shaft 30 of the camera adjusting motor 33, the axis of the rotating shaft 30 of the camera adjusting motor 33 is perpendicularly intersected with the axes of the output shaft 32, the first swing arm driving shaft 40 and the second swing arm driving shaft 39 at the same time, the micro-distance camera 9 is fixedly installed at the tail end of the camera supporting arm 34, and the lens axis of the micro-distance camera 9 is perpendicular to the axis of the rotating shaft 30;
in the state of the vertical posture execution section 70, a partial range of one side surface of the annular piezoelectric ceramic piece 50 lifted up by the first annular rolling groove 4 and the second annular rolling groove 25 falls within the lens line-of-sight range 43 of the macro camera 9, and after the annular piezoelectric ceramic piece 50 lifted up by the first annular rolling groove 4 and the second annular rolling groove 25 rotates 360 ° along the own axis, the lens line-of-sight range 43 of the macro camera 9 sweeps over the entire surface of one side of the annular piezoelectric ceramic piece 50;
in the state of the vertical posture execution section 70, after the rotation shaft 30 of the camera adjusting motor 33 rotates 180 °, the other side surface partial area of the annular piezoelectric ceramic piece 50 lifted up by the first annular rolling groove 4 and the second annular rolling groove 25 falls within the lens line-of-sight range 43 of the macro camera 9.
The surfaces of the poking end 16.1 and the braking end 20.1 are made of rubber or silica gel.
The macro camera 9 is an industrial macro camera.
The detection method of the crack micro-distance detection system of the piezoelectric ceramic stack comprises the following steps:
step one, controlling the upward extension of the telescopic device 26 and the vertical telescopic rod 37 to enable the piezoelectric ceramic stack 24 to wholly displace upward until the lower surface of a horizontal annular piezoelectric ceramic sheet 50 at the uppermost end 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 restraining column 22; the state of the detection executing part of the automatic micro-crack detecting mechanism is a transverse gesture executing part 35 in the initial state, and at this time, the first rolling supporting wheel 5, the second rolling supporting wheel 29, the poking finger 16 and the braking finger 20 are distributed around the horizontal annular piezoelectric ceramic sheet 50 at the uppermost end of the piezoelectric ceramic stack 24 and do not contact with the horizontal annular piezoelectric ceramic sheet 50 at the uppermost end 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 sheet 50 of the piezoelectric ceramic stack 24 to approach the first rolling supporting wheel 5 and the second rolling supporting wheel 29, and enabling the uppermost horizontal annular piezoelectric ceramic sheet 50 of the piezoelectric ceramic stack 24 to slide horizontally to gradually approach the first rolling supporting wheel 5 and the second rolling supporting wheel 29;
Step three, the step two continuously operates, and a horizontal annular piezoelectric ceramic piece 50 at the uppermost end of the piezoelectric ceramic stack 24 horizontally slides towards the direction gradually approaching to 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 outer contour 50.1 of the horizontal annular piezoelectric ceramic piece 50 at the uppermost end of the piezoelectric ceramic stack 24; at this time, the pulling end 16.1 of the pulling finger 16 and the braking end 20.1 of the braking finger 20 also tightly push against 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 posture executing part 35; the axis of the annular piezoelectric ceramic piece 50 nipped by the lateral attitude actuator 35 coincides with the axes of the first swing arm drive shaft 40 and the second swing arm drive shaft 39;
step four, controlling the attitude adjusting motor 2 to enable the output shaft 32 to drive the first bracket 6 to swing upwards gradually along the axis of the output shaft 32 of the attitude adjusting motor 2, enabling the annular piezoelectric ceramic plate 50 clamped by the transverse attitude executing part 35 to swing upwards, and enabling the transverse attitude executing part 35 to be converted into a vertical attitude executing part 70 after the first bracket 6 swings upwards by 90 degrees along the axis of the output shaft 32 of the attitude adjusting motor 2;
In the state of the vertical posture performing section 70, the first annular roller grooves 4 and the second annular roller grooves 25 of the first roller 5 and the second roller 29 hold up the annular piezoelectric ceramic sheet 50 with the horizontal axis upward; a partial range of one side surface of the annular piezoelectric ceramic piece 50 lifted up by the first annular rolling groove 4 and the second annular rolling groove 25 falls within the lens line-of-sight range 43 of the macro camera 9, and the macro camera 9 is always in an on state in the subsequent process;
step five, controlling the first rotary shaft driving motor 14 to output constant torque, so that a poking end 16.1 poking the tail end of the finger 16 abuts against the outer contour 50.1 of the annular piezoelectric ceramic piece 50; simultaneously, 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, so that the poking end 16.1 of the poking finger 16 slowly rotates a degrees anticlockwise under the action of friction force along with anticlockwise poking the clamped annular piezoelectric ceramic piece 50; at this time, the second spindle driving motor 18 is controlled to make the braking end 20.1 at the end of the braking finger 20 swing downward until the braking end 20.1 at the end of the braking finger 20 pushes down the outer contour 50.1 of the annular piezoelectric ceramic plate 50, and at this time, the annular piezoelectric ceramic plate 50 is in a braking state under the static friction force of the braking end 20.1;
Step six, the first rotary shaft driving motor 14 is controlled 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 the moment, the annular piezoelectric ceramic piece 50 supported upwards by the first annular rolling groove 4 and the second annular rolling groove 25 does not spontaneously rotate because the braking end 20.1 downwards pushes against the outer contour 50.1 of the annular piezoelectric ceramic piece 50; then 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 clockwise along the axis of the first swing arm driving shaft 40, further enable the poking finger 16 and the first swing arm 13 to return to the initial position of the step five, and then the first rotating shaft driving motor 14 is controlled to enable the poking end 16.1 at the tail end of the poking finger 16 to swing downwards to re-push 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, so that the total anticlockwise rotation angle of the clamped annular piezoelectric ceramic piece 50 is N a degrees, and when N a degrees are greater than or equal to 360 degrees, the annular piezoelectric ceramic piece 50 supported upwards by the first annular rolling groove 4 and the second annular rolling groove 25 is indicated to rotate at least anticlockwise and cumulatively for 360 degrees along the axis of the annular piezoelectric ceramic piece, so that the lens sight range 43 of the macro camera 9 sweeps the whole 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 one side surface of the annular piezoelectric ceramic piece 50, and crack detection on one side surface of the annular piezoelectric ceramic piece 50 is realized;
Step eight, controlling the rotating shaft 30 of the camera adjusting motor 33 to rotate 180 degrees, so that the partial range of the other side surface of the annular piezoelectric ceramic piece 50 supported upwards by the first annular rolling groove 4 and the second annular rolling groove 25 falls in the lens sight line range 43 of the macro camera 9, and referring to the step five, the step six and the step seven, the crack detection on the other side surface of the annular piezoelectric ceramic piece 50 is realized;
step nine, the first swing arm 13 swings anticlockwise to be horizontal, the second swing arm 17 swings clockwise to be horizontal, and the toggle end 16.1 and the brake end 20.1 are separated from the outer contour 50.1 of the annular piezoelectric ceramic plate 50, at this time, the annular piezoelectric ceramic plate 50 with the double-sided detected and supported upwards by the first annular rolling groove 4 and the second annular rolling groove 25 can be taken out smoothly upwards.
The foregoing is only a preferred embodiment of the invention, it being 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 present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (4)
1. Crack microspur detecting system of piezoceramics heap, its characterized in that: the device comprises a base (36), wherein a horizontal fixed platform (23) is supported and arranged above the base (36) through a supporting piece (27), a piezoelectric ceramic stack (24) formed by overlapping a plurality of horizontal annular piezoelectric ceramic plates (50) is arranged on the fixed platform (23), and the device further comprises an automatic micro-crack detection mechanism, wherein the automatic micro-crack detection mechanism can detect each annular piezoelectric ceramic plate (50) on the piezoelectric ceramic stack (24) successively;
The upper side of the fixed platform (23) is provided with a plurality of vertical piezoelectric ceramic stack restraining columns (22) distributed in a circumferential array along the contour edge, and the piezoelectric ceramic stacks (24) are restrained in the enclosing range of the plurality of piezoelectric ceramic stack restraining columns (22) distributed in the circumferential array in the overlook view;
a vertical telescopic device (26) is arranged below the fixed platform (23), a telescopic rod penetrating hole (38) is hollowed out on the fixed platform (23), a vertical telescopic rod (37) of the telescopic device (26) can upwards penetrate through the telescopic rod penetrating hole (38), the upper end of the vertical telescopic rod (37) upwards pushes against the lower surface of a horizontal annular piezoelectric ceramic sheet (50) at the lowest end of the piezoelectric ceramic stack (24), and the upward extension of the vertical telescopic rod (37) can enable the piezoelectric ceramic stack (24) to integrally and upwards displace;
the automatic micro-crack detection mechanism comprises a mechanical arm part (1) and a detection executing part, wherein the detection executing part of the automatic micro-crack detection mechanism comprises two working states which are respectively marked as a transverse gesture executing part (35) and a vertical gesture executing part (70);
the lower surface of a horizontal annular piezoelectric ceramic plate (50) at the uppermost end 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 restraining column (22);
The transverse gesture execution part (35) comprises a first roller supporting wheel (5) and a second roller supporting wheel (29) which are horizontally arranged in parallel, a poking finger (16) and a braking finger (20) which are horizontally arranged in parallel; the first rolling support wheel (5), the second rolling support wheel (29), the poking finger (16) and the braking finger (20) are all leveled with a horizontal annular piezoelectric ceramic sheet (50) at the uppermost end of the piezoelectric ceramic stack (24), and the first rolling support wheel (5), the second rolling support wheel (29), the poking finger (16) and the braking finger (20) are distributed around the horizontal annular piezoelectric ceramic sheet (50) at the uppermost end of the piezoelectric ceramic stack (24);
the outer ring of the first rolling supporting wheel (5) is provided with a first annular rolling groove (4), the outer ring of the second rolling supporting wheel (29) is provided with a second annular rolling groove (25), 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 poking finger (16) far away from the braking finger (20) is fixedly connected with a vertical first finger driving rotating shaft (15), and one end of the braking finger (20) far away from the poking finger (16) is fixedly connected with a vertical second finger driving rotating shaft (19); the tail end of the poking finger (16) is a poking end (16.1), and the tail end of the braking finger (20) is a braking end (20.1);
Under the overlooking view, 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 stirring end (16.1) of the stirring finger (16) and the braking end (20.1) of the braking finger (20) to push the horizontal annular piezoelectric ceramic sheet (50) at the uppermost end of the piezoelectric ceramic stack (24) towards the direction close to the first rolling supporting wheel (5) and the second rolling supporting wheel (29), and enable the horizontal annular piezoelectric ceramic sheet (50) at the uppermost end of the piezoelectric ceramic stack (24) to horizontally slide until the contour edge of the horizontal annular piezoelectric ceramic sheet (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 matched with the rolling contour (50.1) of the horizontal annular piezoelectric ceramic sheet (50) at the uppermost end of the piezoelectric ceramic stack (24);
the transverse gesture execution 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 connected with the first finger driving rotating shaft (15) and the second finger driving rotating shaft (19) in a driving mode; the novel roller support further comprises a first bracket (6) in an arch shape, wherein a first roller shaft (7) with the same axle center at the upper end of the first roller support wheel (5) and a second roller shaft (28) with the same axle center at the upper end of the second roller support wheel (29) are respectively rotatably arranged in two bearing holes on the first bracket (6) through bearings; a first swing arm driving motor (11) is arranged on the upper side of the middle of the first bracket (6), a first swing arm driving shaft (40) at the output end of the first swing arm driving motor (11) faces upwards vertically, a first swing arm (13) is vertically and fixedly connected to the upper end of the first swing arm driving shaft (40), and a shell of the first rotation shaft driving motor (14) is fixed at the tail end of the first swing arm (13); the upper side of the first bracket (6) is provided with a second bracket (10) in an arch shape in parallel, the lower sides of the two ends of the second bracket (10) are fixedly connected with the first bracket (6) through supporting columns (8), a second swing arm driving motor (12) is arranged on the lower side of the middle part of the second bracket (10), a second swing arm driving shaft (39) at the output end of the second swing arm driving motor (12) is vertically downward, the axis of the second swing arm driving shaft (39) coincides 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 shell of the second rotating shaft driving motor (18) is fixed at the tail end of the second swing arm (17);
The device is characterized by further comprising an attitude adjusting motor (2) arranged at the tail end of the mechanical arm part (1), wherein the axis of an output shaft (32) of the attitude adjusting motor (2) is horizontal, the side part of the output shaft (32) of the attitude adjusting motor (2) is fixedly connected with an arc-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 bracket (6), so that the first bracket (6) rotates along with the output shaft (32) of the attitude adjusting motor (2); the first bracket (6) swings upwards by 90 degrees along the axis of the output shaft (32) of the gesture adjusting motor (2), and then the transverse gesture executing part (35) is converted into a vertical gesture executing part (70);
in a state of the vertical posture executing part (70), a first annular rolling groove (4) and a second annular rolling groove (25) of the first rolling supporting wheel (5) and the second rolling supporting wheel (29) upwards support an annular piezoelectric ceramic sheet (50) with horizontal axes, and the axes of the annular piezoelectric ceramic sheet (50) upwards supported by the first annular rolling groove (4) and the second annular rolling groove (25) are overlapped 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 gesture execution part (70), both 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 the outer contour (50.1) of the annular piezoelectric ceramic plate (50);
A camera adjusting motor (33) is fixedly arranged 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 perpendicularly intersected with the axis of the output shaft (32), the axis of the first swing arm driving shaft (40) and the axis of the second swing arm driving shaft (39) at the same time, a macro camera (9) is fixedly arranged at the tail end of the camera supporting arm (34), and the axis of a lens of the macro camera (9) is perpendicular to the axis of the rotating shaft (30);
in a state of the vertical posture executing part (70), a local area of one side surface of the annular piezoelectric ceramic piece (50) lifted up by the first annular rolling groove (4) and the second annular rolling groove (25) falls in a lens sight line area (43) of the macro camera (9), and after 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 an axis of the annular piezoelectric ceramic piece, the lens sight line area (43) of the macro camera (9) sweeps the whole surface of one side of the annular piezoelectric ceramic piece (50);
in a state of the vertical posture executing part (70), after the rotating shaft (30) of the camera adjusting motor (33) rotates 180 degrees, the other side surface local range of the annular piezoelectric ceramic piece (50) lifted up by the first annular rolling groove (4) and the second annular rolling groove (25) falls in the lens sight line range (43) of the micro-distance camera (9).
2. The crack micro-distance detection system of a piezoelectric ceramic stack according to claim 1, wherein: the surfaces of the stirring end (16.1) and the braking end (20.1) are made of rubber or silica gel.
3. The crack micro-distance detection system of a piezoelectric ceramic stack according to claim 2, wherein: the macro camera (9) is an industrial macro camera.
4. The method for detecting the crack micro-distance detecting system of the piezoelectric ceramic stack according to claim 3, wherein: the method comprises the following steps:
controlling the upward extension of a telescopic device (26) and a vertical telescopic rod (37) to enable the piezoelectric ceramic stack (24) to wholly and upwardly displace until the lower surface of a horizontal annular piezoelectric ceramic plate (50) at the uppermost end 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 restraining column (22); the state of the detection executing part of the automatic micro-crack detection mechanism in the initial state is a transverse posture executing part (35), and at the moment, the first rolling supporting wheel (5), the second rolling supporting wheel (29), the poking finger (16) and the braking finger (20) are distributed around the horizontal annular piezoelectric ceramic sheet (50) at the uppermost end of the piezoelectric ceramic stack (24) and do not contact with the horizontal annular piezoelectric ceramic sheet (50) at the uppermost end 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), further respectively driving a first finger driving rotating shaft (15) to rotate clockwise and a second finger driving rotating shaft (19) to rotate anticlockwise, further enabling a stirring end (16.1) of a stirring finger (16) and a braking end (20.1) of a braking finger (20) to push a horizontal annular piezoelectric ceramic sheet (50) at the uppermost end of a piezoelectric ceramic stack (24) towards the directions close to a first rolling supporting wheel (5) and a second rolling supporting wheel (29), and enabling the horizontal annular piezoelectric ceramic sheet (50) at the uppermost end of the piezoelectric ceramic stack (24) to slide horizontally towards the directions gradually approaching to the first rolling supporting wheel (5) and the second rolling supporting wheel (29);
step three, continuously running, wherein a horizontal annular piezoelectric ceramic sheet (50) at the uppermost end of the piezoelectric ceramic stack (24) horizontally slides towards the directions gradually approaching to the first rolling support wheel (5) and the second rolling support wheel (29) until the contour edges of the horizontal annular piezoelectric ceramic sheet (50) at the uppermost end of the piezoelectric ceramic stack (24) are clamped into a first annular rolling groove (4) and a second annular rolling groove (25) of the first rolling support wheel (5) and the second rolling support wheel (29), so that the first rolling support wheel (5) and the second rolling support wheel (29) are in rolling fit with the outer contour (50.1) of the horizontal annular piezoelectric ceramic sheet (50) at the uppermost end of the piezoelectric ceramic stack (24); the poking end (16.1) of the poking finger (16) and the braking end (20.1) of the braking finger (20) are tightly propped against the outer contour (50.1) of the horizontal annular piezoelectric ceramic plate (50) at the uppermost end of the piezoelectric ceramic stack (24), so that the horizontal annular piezoelectric ceramic plate (50) at the uppermost end of the piezoelectric ceramic stack (24) is completely clamped by the transverse gesture execution part (35); the axis of the annular piezoelectric ceramic sheet (50) clamped by the transverse posture executing part (35) is overlapped with the axis of the first swing arm driving shaft (40) and the axis of the second swing arm driving shaft (39);
Controlling the attitude adjusting motor (2) to enable the output shaft (32) to drive the first bracket (6) to swing upwards gradually along the axis of the output shaft (32) of the attitude adjusting motor (2), enabling the annular piezoelectric ceramic plate (50) clamped by the transverse attitude executing part (35) to swing upwards, and enabling the transverse attitude executing part (35) to be converted into a vertical attitude executing part (70) after the first bracket (6) swings upwards for 90 degrees along the axis of the output shaft (32) of the attitude adjusting motor (2);
in a state of the vertical posture executing part (70), 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) upwards support the annular piezoelectric ceramic sheet (50) with horizontal axes; a local range of one side surface of the annular piezoelectric ceramic piece (50) lifted up by the first annular rolling groove (4) and the second annular rolling groove (25) falls in 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;
controlling the first rotating shaft driving motor (14) to output constant torque, so that a poking end (16.1) poking the tail end of the finger (16) pushes against the outer contour (50.1) of the annular piezoelectric ceramic piece (50); simultaneously, 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 plate (50); at the moment, 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 then the poking end (16.1) of the poking finger (16) rotates a degrees anticlockwise slowly along with the anticlockwise poking of the clamped annular piezoelectric ceramic sheet (50) 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) downwards pushes against the outer contour (50.1) of the annular piezoelectric ceramic plate (50), and at the moment, the annular piezoelectric ceramic plate (50) is in a braking state under the static friction force of the braking end (20.1);
Step six, the first rotary shaft driving motor (14) is controlled, so that the poking end (16.1) poking the tail end of the finger (16) swings upwards, the poking end (16.1) is separated from the outer contour (50.1) of the annular piezoelectric ceramic plate (50), and the annular piezoelectric ceramic plate (50) propped up by the first annular rolling groove (4) and the second annular rolling groove (25) does not spontaneously rotate because the braking end (20.1) downwards pushes against the outer contour (50.1) of the annular piezoelectric ceramic plate (50); then, a first swing arm driving motor (11) is controlled to enable the first swing arm (13) and the poking finger (16) to swing a degree clockwise along the axis of a first swing arm driving shaft (40), further enable the poking finger (16) and the first swing arm (13) to return to the initial position of the fifth step, and then, a first rotating shaft driving motor (14) is controlled to enable the poking end (16.1) at the tail end of the poking finger (16) to swing downwards to the outer contour (50.1) of the re-jacking ring-shaped piezoelectric ceramic piece (50);
step seven, repeating the step five and the step six for N times, so that the total anticlockwise rotation angle of the clamped annular piezoelectric ceramic sheet (50) is N a degrees, and when the N a degrees are more than or equal to 360 degrees, the annular piezoelectric ceramic sheet (50) lifted up by the first annular rolling groove (4) and the second annular rolling groove (25) is at least anticlockwise accumulated and rotated for 360 degrees along the axis of the annular piezoelectric ceramic sheet, so that the lens sight range (43) of the macro camera (9) is scanned across the whole surface of one side of the annular piezoelectric ceramic sheet (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 one side surface of the annular piezoelectric ceramic piece (50), and crack detection on one side surface of the annular piezoelectric ceramic piece (50) is realized;
Step eight, controlling a rotating shaft (30) of a camera adjusting motor (33) to rotate 180 degrees, so that the partial range of the other side surface of the annular piezoelectric ceramic piece (50) supported upwards 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), and then referring to the step five, the step six and the step seven, so as to realize crack detection on the other side surface of the annular piezoelectric ceramic piece (50);
step nine, the first swing arm (13) swings anticlockwise to be horizontal, the second swing arm (17) swings clockwise to be horizontal, the pulling end (16.1) and the braking end (20.1) are separated from the outer outline (50.1) of the annular piezoelectric ceramic plate (50), and at the moment, the annular piezoelectric ceramic plate (50) which is supported upwards by the first annular rolling groove (4) and the second annular rolling groove (25) and has been subjected to double-sided detection can be taken out smoothly upwards.
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