Method and device for automatically detecting taper of rotating shaft

Abstract

According to the automatic detection method for the taper of the rotating shaft, the clamping jaw of the robot is used for clamping the rolling brush, the rolling brush is driven to move to adhere the red lead powder to coat the conical surface of the rotating shaft, automatic coating of the red lead powder on the conical surface of the rotating shaft is achieved, the clamping jaw of the robot is used for clamping the ring gauge, and the ring gauge is driven to be gradually pressed on the conical surface of the rotating shaft and then taken down. A visual camera is used for shooting a red lead powder covering picture of the conical surface of the rotating shaft after the ring gauge moves on the conical surface of the rotating shaft, and whether the size and the surface quality of the conical surface of the rotating shaft meet preset requirements or not is calculated on an upper computer according to picture information; automatic acquisition and analysis of rotating shaft conicity measurement data are formed, automatic detection of the rotating shaft conicity is realized, the problems of low accuracy and efficiency of manual measurement and easy damage of the conical surface are solved, the rotating shaft conicity detection efficiency is high, the accuracy is guaranteed, the damage probability of the rotating shaft conical surface and the ring gauge is low, and the practicability is high. The invention further provides an automatic detection device for the taper of the rotating shaft.

Description

Technical Field

[0001] The invention relates to a method and a device for automatically detecting the taper of a rotating shaft, and belongs to the technical field of detecting the taper of a rotating shaft. Background Art

[0002] In the taper transmission system, the taper quality of the shaft is very important. Its diameter, taper, and surface contact rate directly affect the torque transmission efficiency and reliability. In the traditional manufacturing model, red lead powder is applied to the cone surface of the ring gauge in advance, and the taper ring gauge is manually used to fit the taper of the shaft. The taper size and surface quality of the shaft are confirmed by the distribution of red lead powder. Since the red lead powder coating, ring gauge fitting and disassembly, and red lead powder distribution confirmation are all done manually, there are problems such as high labor intensity, low operating efficiency, and unquantified quality standards.

[0003] The existing shaft taper measurement operation is basically done manually, and the process is: 1. Before testing, use wiping paper to clean the taper surface of the shaft to be tested and the testing working surface of the taper plug gauge. Use the palm of your hand to evenly apply the red lead powder on the conical surface of the shaft. The uniformity and thickness of the red lead powder coating are guaranteed by the operator's experience. Uneven coating of red lead powder and too thin coating will cause the red lead powder to be missing from the conical surface of the shaft, and the contact rate of the shaft taper will be lower than the actual value. If the coating is too thick, the conical surface of the shaft will be completely covered with red lead powder, and the contact rate of the shaft taper will be higher than the actual value.

[0004] 2. The shaft is in a horizontal position, and the operator holds the ring gauge and inserts it onto the conical surface of the shaft. Note that the center line of the middle ring gauge should be aligned with the center line of the shaft during the installation process, and avoid contact between the outer conical surface of the shaft and the inner conical surface of the ring gauge before inserting it into place, so as to avoid damaging the shaft and causing measurement errors.

[0005] 3. After the taper ring gauge and the shaft taper are assembled, use a mallet to gently tap the end face of the ring gauge to ensure that the taper ring gauge and the shaft taper are tightly fitted. The tapping force is guaranteed by the operator's experience. If the ring gauge and the shaft are not properly fitted, the contact rate of the shaft taper will be lower than the actual value. Excessive fit between the two can easily cause damage to the shaft taper.

[0006] 4. Use a depth gauge to measure the distance between the end face of the ring gauge and the end face of the shaft.

[0007] 5. After the taper ring gauge and the shaft taper are fitted together, use a mallet to gently tap the other end of the ring gauge to separate the ring gauge from the shaft. The force and direction of the tapping must be strictly controlled, and attention must be paid to the coincidence of the center line of the middle ring gauge and the center line of the shaft during the withdrawal process to ensure that the adhesion of the red lead powder will not change during the withdrawal process of the ring gauge, so as to avoid measurement errors in the shaft taper contact rate.

[0008] 6. After the ring gauge measurement is completed, use a flashlight to observe the adhesion of red lead powder on the taper surface of the shaft, manually interpret the contact rate, and write down the measured value.

[0009] The existing manual measurement method of shaft taper has the following shortcomings: 1. The uniformity and thickness of red lead powder coating are guaranteed by the operator's experience and cannot be quantitatively controlled, and depends on the operator's experience.

[0010] 2. The entire process of setting the ring gauge onto the shaft, fitting it to the shaft, and withdrawing it from the shaft requires manual control of the force, and ensure that the center line of the ring gauge coincides with the center line of the shaft. Otherwise, measurement errors or shaft damage may occur easily. This operation depends on the operator's experience.

[0011] 3. After the ring gauge is separated from the shaft, the adhesion of red lead powder on the taper of the shaft is manually judged, which depends on the operator's experience. The measurement data is manually entered, which is inefficient.

[0012] The purpose of the present invention is to design a set of high-precision, automated motor shaft taper measurement methods and devices according to the motor shaft taper measurement requirements, so as to solve the problems of low efficiency of manual measurement, difficulty in ensuring measurement accuracy, and easy damage to the cone surface. The taper measurement data of the shaft is automatically collected and analyzed, and the taper of the shaft is automatically detected. Summary of the invention

[0013] The present invention provides a method and device for automatically detecting the taper of a shaft, which automatically collect and analyze the taper measurement data of the shaft, realize automatic detection of the taper of the shaft, and solve the problems of low accuracy and efficiency of manual measurement and easy damage to the taper surface. The taper detection of the shaft has high efficiency, guaranteed accuracy, low probability of damage to the taper surface of the shaft and the ring gauge, and high practicality.

[0014] In order to achieve the above object, the technical solution adopted by the present invention is: The automatic detection method of the taper of the rotating shaft comprises a roller brush for coating red lead powder, a ring gauge that can cooperate with the rotating shaft taper surface of the rotor, a robot with a clamping claw at the front end, and a powder box placed at the front side of the robot and filled with red lead powder, wherein the detection steps include: S1: Set the rotor horizontally in front of the robot; S2: using the gripper at the front end of the robot to hold the roller brush and insert the roller brush into the powder box to pick up the red lead powder; S3: The robot drives the roller brush to move to the conical surface of the rotating shaft and applies red lead powder on the conical surface of the rotating shaft; S4: Remove the roller brush from the clamping jaws and clamp the ring gauge on the clamping jaws; S5: The robot moves the ring gauge to align with the shaft axis and pushes the ring gauge inward along the axis, so that the ring gauge and the conical surface of the shaft are gradually pressed tightly, and then drives the ring gauge to move outward along the axis and be removed from the shaft; S6: A photo of the cone surface of the shaft is taken by the visual camera on the robot and transmitted to a host computer connected to the robot. The host computer calculates and analyzes whether the cone surface size and surface quality of the shaft meet the preset requirements based on the photo of the cone surface of the shaft.

[0015] Preferably, in step S1, the rotor is supported by a rotor support seat in a horizontal position, and the rotor support seat includes a base, an electric screw mounted on the base, a roller support, and a roller mounted on the roller support. There are two roller supports, and the rollers on the two roller supports are arranged in parallel. The rotor is supported on two rollers, and the roller supports are respectively fixed on nut seats that cooperate with the electric screw. The thread directions of the two nut seats are opposite so that the two nut seats move closer or farther away with the rotation of the electric screw.

[0016] Preferably, a screw support is fixed on the base, a bearing seat with a bearing is mounted on the screw support, the bearing seats are respectively mounted on both ends and a middle position of the electric screw, and the nut seats are respectively arranged between the two bearing seats.

[0017] Preferably, a roller is connected to a motor via a coupling, and the motor drives the roller to rotate, so that the rotor rotates with the roller.

[0018] Preferably, there are two methods for implementing step S3: The first method is: the robot drives the roller brush to roll along the conical surface of the rotating shaft to form a full circle of red lead powder coating on the conical surface of the rotating shaft; The second method is: the robot drives the roller brush to move to the rotating shaft, and the roller drives the rotor to rotate to form a full circle coating of red lead powder on the conical surface of the rotating shaft.

[0019] Preferably, an annular groove is provided on the outer wall of the ring gauge, and the grooves are spaced apart along the axial direction to form a toothed structure on the outer wall of the ring gauge, and the inner wall of the claw cooperates with the toothed structure of the ring gauge.

[0020] Preferably, a cleaning box containing red lead powder cleaning agent is provided next to the powder box. After completing step S3, the robot moves the roller brush to the cleaning box, and drives the roller brush to rotate and clean in the cleaning box. After the roller brush completes cleaning, step S4 is performed; after completing step S7, the robot re-clamps the roller brush, and drives the roller brush to clean the red lead powder coated on the conical surface of the rotating shaft. After cleaning, the roller brush is moved to the cleaning box and driven to rotate in the cleaning box to complete the cleaning of the roller brush.

[0021] Preferably, step S3 specifically means that first, the robot drives the roller brush to move to coat the entire circle of red lead powder on the conical surface of the rotating shaft. After coating, a visual camera is used to take a photo of the conical surface of the rotating shaft and transmit it to the host computer, and the host computer determines whether the coating of the red lead powder is qualified. If qualified, the coating is completed. If unqualified, the coating continues until the host computer determines that the coating of the red lead powder is qualified.

[0022] Preferably, a position sensor and a six-dimensional force sensor are installed at the front end of the robot. The position sensor senses the axial displacement of the robot pushing the ring gauge axially inward on the conical surface of the rotating shaft, and the six-dimensional force sensor senses the force conditions during the process of gradually pressing the ring gauge against the conical surface of the rotating shaft.

[0023] An automatic shaft taper detection device using the above-described automatic shaft taper detection method is characterized in that it includes a roller brush for coating red lead powder, a ring gauge that can cooperate with the shaft taper surface of the rotor, a robot with a clamping claw at the front end, and a powder box placed in front of the robot and filled with red lead powder. The rotor is horizontally arranged in front of the robot, and the roller brush coats the red lead powder in the powder box on the shaft taper surface or brushes off the red lead powder on the shaft taper surface as the robot clamps and moves, and the ring gauge is pressed against the shaft taper surface or removed from the shaft taper surface as the robot clamps and moves.

[0024] The beneficial effects of the invention are: The automatic detection method for the taper of a rotating shaft of the present invention comprises the following steps: clamping a roller brush with a robot's clamping jaws, and driving the roller brush to move to pick up red lead powder and coat it on the conical surface of the rotating shaft, thereby realizing automatic coating of the red lead powder on the conical surface of the rotating shaft; clamping a ring gauge with the robot's clamping jaws, and driving the ring gauge and the conical surface of the rotating shaft to be gradually pressed and then removed, thereby realizing automatic matching, pressing and then separation of the ring gauge on the conical surface of the rotating shaft; using a visual camera to take a photo of the red lead powder covering the conical surface of the rotating shaft after the ring gauge moves on the conical surface of the rotating shaft; and calculating and analyzing whether the size and surface quality of the conical surface of the rotating shaft meet the preset requirements on a host computer based on the photo information, thereby forming automatic collection and analysis of the measurement data of the taper of the rotating shaft, realizing automatic detection of the taper of the rotating shaft, solving the problems of low accuracy and efficiency of manual measurement and easy damage of the conical surface, and achieving high efficiency and guaranteed accuracy of the detection of the taper of the rotating shaft, low probability of damage to the conical surface of the rotating shaft and the ring gauge, and high practicality.

[0025] The rotor is supported by the rotor support seat. The electric screw in the rotor support seat can adjust the distance between the two rollers to adapt to the support of rotors of different diameters. When the outer diameters of the rotors vary greatly, rollers of different diameters can be replaced to adapt to the support of rotors of different sizes. The rotation of the roller drives the rotor to rotate 360 ​​degrees to realize the rotation of the conical surface of the shaft. When coating the red lead powder, the rotation of the shaft causes the roller to roll relative to the shaft, so that the red lead powder is evenly coated. The orientation of the conical surface of the shaft can be appropriately changed according to the coating requirements to ensure the reliability and effectiveness of the coating.

[0026] A position sensor and a six-dimensional force sensor are installed at the front end of the robot. The signal fed back by the position sensor is used to adjust the movement depth of the ring gauge on the rotating shaft in real time to prevent the ring gauge from being over-tightened. The signal fed back by the six-dimensional sensor is used to adjust the force and position of the ring gauge on the conical surface of the rotating shaft in real time to ensure that the central axis of the ring gauge and the conical surface of the rotating shaft are aligned during the tightening process, so that the ring gauge and the conical surface of the rotating shaft are evenly stressed, effectively reducing the risk of damage to the ring gauge and the conical surface of the rotating shaft, and improving the safety and reliability of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the robot driving the roller brush to move onto the conical surface of the rotating shaft.

[0028] Figure 2 Schematic diagram of the robot moving the ring gauge to align with the axis of the rotating shaft.

[0029] Figure 3 It is a schematic diagram of the robot pushing the ring gauge axially inward so that the ring gauge is pressed against the conical surface of the rotating shaft.

[0030] Figure 4 Schematic diagram of the rotor support base supporting the rotor.

[0031] Figure 5 This is a schematic diagram of the connection between the motor and the roller.

[0032] Figure 6 Schematic diagram of a visual camera taking photos of the cone surface of a rotating shaft. DETAILED DESCRIPTION

[0033] Combine the following Figures 1 to 6 The embodiments of the present invention are described in detail.

[0034] The method for automatically detecting the taper of a rotating shaft comprises a roller brush 1 for coating red lead powder, a ring gauge 2 which can match the rotating shaft taper surface 100 of a rotor, a robot 4 with a clamping claw 3 at the front end, and a powder box 5 which is placed in front of the robot 4 and contains red lead powder, wherein the detection steps include: S1: The rotor 101 is horizontally arranged in front of the robot 4; S2: using the gripper 3 at the front end of the robot 4 to clamp the roller brush 1 and insert the roller brush 1 into the powder box 5 to pick up the red lead powder; S3: The robot drives the roller brush to move to the conical surface of the rotating shaft and applies red lead powder on the conical surface of the rotating shaft; S4: Remove the roller brush 1 from the clamping jaw 3, and clamp the ring gauge 2 on the clamping jaw 3; S5: The robot 4 moves the ring gauge 5 to align with the shaft axis and pushes the ring gauge 2 inwardly along the axis, so that the ring gauge 2 and the conical surface 100 of the shaft are gradually pressed together, and then drives the ring gauge 2 to move outwardly along the axis and be removed from the shaft; S6: Take photos of the shaft cone surface 100 through the visual camera 6 on the robot 4 and transmit them to the host computer connected to the robot. In the host computer, calculate and analyze whether the shaft cone surface size and surface quality meet the preset requirements based on the photos of the shaft cone surface.

[0035] The above-mentioned automatic detection method for shaft taper uses the gripper 3 of the robot 4 to clamp the roller brush 1, and drives the roller brush 1 to move to pick up red lead powder and coat it on the shaft conical surface 100, so as to realize the automatic coating of red lead powder on the shaft conical surface; the gripper 3 of the robot 4 clamps the ring gauge 2, and drives the ring gauge 2 and the shaft conical surface 100 to be gradually pressed and removed, so as to realize the automatic matching, pressing and separation of the ring gauge 2 on the shaft conical surface; the visual camera 6 is used to take a photo of the red lead powder covering the shaft conical surface after the ring gauge 2 moves on the shaft conical surface, and the upper computer calculates and analyzes whether the shaft conical surface size and surface quality meet the preset requirements based on the photo information, so as to form automatic collection and analysis of shaft taper measurement data, realize automatic detection of shaft taper, solve the problems of low accuracy and efficiency of manual measurement and easy damage of the conical surface, and the shaft taper detection has high efficiency, guaranteed accuracy, low probability of damage to the shaft conical surface and the ring gauge, and high practicality.

[0036] Among them, in step S1, the rotor 101 is supported by the rotor support seat 7 in a horizontal arrangement, and the rotor support seat 7 includes a base 8, an electric screw 9 mounted on the base 8, a roller support 10, and a roller 11 mounted on the roller support 10. There are two roller supports 10, and the rollers 11 on the two roller supports 10 are arranged in parallel. The rotor 101 is supported on the two rollers 11, and the roller supports 10 are respectively fixed on the nut seats 12 matched with the electric screw 9. The thread directions of the two nut seats 12 are opposite, so that the two nut seats 12 are close to or away from each other as the electric screw 9 rotates. Figure 4 As shown, the rotor is supported by two rollers 11, and the rotor axis is set horizontally. The electric screw 9 can adjust the distance between the two nut seats 12, that is, the distance between the two rollers 11 can be adjusted to adapt to the support of rotors of different diameters. When the outer diameters of the rotors differ greatly, rollers 11 of different diameters can be replaced to adapt to the support of rotors of different sizes. The rotor 101 is supported on the rollers 11, and the rotation of the rollers 11 can drive the rotor to rotate, realizing a 306-degree rotation displacement of the rotor, so that the shaft conical surface 100 rotates, which facilitates the full circle coating of the red lead powder on the shaft conical surface.

[0037] Among them, the screw support 13 is fixed on the base 8, and the screw support 13 is equipped with a bearing seat 14 with a bearing. The bearing seats 14 are respectively assembled at both ends and the middle position of the electric screw 9, and the nut seats 12 are respectively arranged between the two bearing seats 14. The bearing seats 14 are used to support the electric screw 9 to prevent the electric screw 9 from bending and tilting. The two nut seats 12 are respectively installed between the two bearing seats 14, and the bearing seat 14 in the middle position is used to separate the two nut seats 12, so as to avoid the collision between the guide wheel support master and slave 10 due to the nut 12 approaching too close during the movement, thereby improving the structural reliability and safety.

[0038] Among them, one roller 11 is connected to the motor 15 through a coupling, and the motor 15 drives one roller 11 to rotate, so that the rotor 101 rotates with the roller 11. The roller connected to the motor 15 is the driving wheel, and the other roller is the driven wheel. The rotation of the driving wheel can drive the rotor to rotate 360 ​​degrees to realize the rotation of the conical surface of the shaft. When coating the red lead powder, the rotation of the shaft makes the roller 11 roll relative to the shaft, so that the red lead powder is evenly coated, and the orientation of the conical surface of the shaft can be appropriately changed according to the coating requirements to ensure the reliability and effectiveness of the coating.

[0039] Preferably, there are two methods for implementing step S3: The first method is: the robot 4 drives the roller brush 1 to roll along the rotating shaft conical surface 100 to form a full circle coating of red lead powder on the rotating shaft conical surface 100; The second method is: the robot 4 drives the roller brush 1 to move onto the rotating shaft, and the roller 11 drives the rotor 101 to rotate to form a full circle coating of red lead powder on the conical surface 100 of the rotating shaft.

[0040] There are two methods for coating red lead powder on the conical surface of the shaft. The first method is that the robot drives the roller brush 1 to roll on the conical surface 100 of the shaft, while the conical surface of the shaft remains stationary; the second method is that the robot drives the roller brush 1 to move to the shaft, and the roller 11 drives the rotor 101 to rotate, so that the conical surface 100 of the shaft rotates, while the roller brush 1 remains stationary. Both methods can be used to coat the red lead powder. The second method can make the red lead powder evenly coated, and the orientation of the conical surface of the shaft can be appropriately changed according to the coating requirements, thereby ensuring the reliability and effectiveness of the coating.

[0041] The outer wall of the ring gauge 2 is provided with an annular groove 21, and the groove 21 is spaced apart in the axial direction to form a toothed structure of the outer wall of the ring gauge, and the inner wall of the clamping jaw 3 cooperates with the toothed structure of the ring gauge. The ring gauge 2 and the clamping jaw 3 form a toothed structure to cooperate, which can improve the clamping force of the clamping jaw 3 and the ring gauge 2, improve the clamping stability, and form an axial positioning cooperation between the clamping jaw 3 and the ring gauge 2, so as to drive the axial movement of the ring gauge 2, and improve the reliability of the ring gauge 2 and the rotating shaft conical surface 100 to press and disengage.

[0042] Among them, a cleaning box 16 containing red lead powder cleaning agent is arranged beside the powder box 5. After completing step S3, the robot 4 moves the roller brush 1 to the cleaning box 16, and drives the roller brush 1 to rotate and clean in the cleaning box 16. After the roller brush is cleaned, step S4 is performed; after completing step S7, the robot 4 re-clamps the roller brush 1, and drives the roller brush 1 to clean the red lead powder coated on the conical surface 100 of the rotating shaft. After cleaning, the roller brush 1 is moved to the cleaning box 16 and driven to rotate in the cleaning box to complete the cleaning of the roller brush 1. The setting of the cleaning box 16 enables the roller brush 1 to be automatically cleaned, and after the detection is completed, the red lead powder coated on the conical surface 100 of the rotating shaft is cleaned, so as to realize the automation of the entire process of the rotating shaft taper detection, and further improve the automation level of the detection.

[0043] Specifically, step S3 means that first, the robot 4 drives the roller brush 1 to move and apply a full circle of red lead powder on the rotating shaft conical surface 100. After the application, the visual camera 6 takes a photo of the rotating shaft conical surface and transmits it to the host computer. The host computer determines whether the application of the red lead powder is qualified. If it is qualified, the application is completed. If it is unqualified, the application continues until the host computer determines that the application of the red lead powder is qualified. The visual camera 6 takes a photo and transmits it to the host computer to form a detection of the application effect of the red lead powder on the rotating shaft conical surface 100. If the application is unqualified, it is applied again until the application is qualified, so as to ensure the reliability of the automatic application of the red lead powder.

[0044] Among them, a position sensor and a six-dimensional force sensor are installed at the front end of the robot. The position sensor senses the axial displacement of the robot pushing the ring gauge axially inward on the rotating shaft cone surface 100, and the six-dimensional force sensor senses the force applied to the ring gauge 2 during the process of gradually pressing against the rotating shaft cone surface 100. The signal fed back by the position sensor is used to adjust the movement depth of the ring gauge on the rotating shaft in real time to prevent the ring gauge from being pressed too much. The signal fed back by the six-dimensional sensor is used to adjust the force and position of the ring gauge moving inward on the rotating shaft cone surface in real time to ensure that the center axis of the ring gauge and the rotating shaft cone surface are aligned during the pressing process, so that the force applied to the ring gauge and the rotating shaft cone surface is uniform, effectively reducing the risk of damage to the ring gauge and the rotating shaft cone surface, and improving the safety and reliability of detection.

[0045] An automatic shaft taper detection device using the above-described automatic shaft taper detection method is characterized in that it includes a roller brush 1 for coating red lead powder, a ring gauge 2 that can cooperate with the shaft taper surface of the rotor, a robot 4 with a clamping claw 3 at the front end, and a powder box 5 placed in front of the robot and filled with red lead powder. The rotor 101 is horizontally arranged in front of the robot 4. The roller brush 1 coats the red lead powder in the powder box 5 on the shaft taper surface 101 or brushes off the red lead powder on the shaft taper surface as the robot clamps and moves. The ring gauge 2 is pressed against the shaft taper surface or removed from the shaft taper surface as the robot clamps and moves.

[0046] The automatic detection device for shaft taper described above uses the gripper 3 of the robot 4 to clamp the roller brush 1, and drives the roller brush 1 to move to pick up red lead powder and coat it on the shaft conical surface 100, thereby realizing the automatic coating of red lead powder on the shaft conical surface; uses the gripper 3 of the robot 4 to clamp the ring gauge 2, and drives the ring gauge 2 and the shaft conical surface 100 to be gradually pressed and then removed, thereby realizing the automatic matching, pressing and separation of the ring gauge 2 on the shaft conical surface; uses the visual camera 6 to take a photo of the red lead powder covering the shaft conical surface after the ring gauge 2 moves on the shaft conical surface 100, and calculates on the upper computer based on the photo information whether the shaft conical surface size and surface quality meet the preset requirements, thereby forming automatic collection and analysis of shaft taper measurement data, realizing automatic detection of shaft taper, solving the problems of low accuracy and efficiency of manual measurement and easy damage of the conical surface, and the shaft taper detection has high efficiency, guaranteed accuracy, low probability of damage to the shaft conical surface and the ring gauge, and high practicality.

[0047] The above is a complete description of the technical solutions of the embodiments of the present invention in conjunction with the accompanying drawings. It should be noted that the described embodiments are only part of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

Claims

1. A method for automatically detecting the taper of a rotating shaft, comprising a roller brush for coating red lead powder, a ring gauge that can match the conical surface of the rotating shaft of the rotor, a robot with a clamping claw at the front end, and a powder box placed in front of the robot and containing red lead powder, characterized in that: The detection steps include: S1: Set the rotor horizontally in front of the robot; S2: using the gripper at the front end of the robot to hold the roller brush and insert the roller brush into the powder box to pick up the red lead powder; S3: The robot drives the roller brush to move to the conical surface of the rotating shaft and applies red lead powder on the conical surface of the rotating shaft; S4: Remove the roller brush from the clamping jaws and clamp the ring gauge on the clamping jaws; S5: The robot moves the ring gauge to align with the shaft axis and pushes the ring gauge inward along the axis, so that the ring gauge and the conical surface of the shaft are gradually pressed tightly, and then drives the ring gauge to move outward along the axis and be removed from the shaft; S6: A photo of the cone surface of the shaft is taken by the visual camera on the robot and transmitted to a host computer connected to the robot. The host computer calculates and analyzes whether the cone surface size and surface quality of the shaft meet the preset requirements based on the photo of the cone surface of the shaft.

2. The method for automatically detecting the taper of a rotating shaft according to claim 1, characterized in that: In step S1, the rotor is supported by a rotor support seat in a horizontal position. The rotor support seat includes a base, an electric screw mounted on the base, a roller support, and a roller mounted on the roller support. There are two roller supports, and the rollers on the two roller supports are arranged in parallel. The rotor is supported on two rollers, and the roller supports are respectively fixed on nut seats that cooperate with the electric screw. The thread directions of the two nut seats are opposite so that the two nut seats are moved closer or farther away as the electric screw rotates.

3. The automatic detection method of the taper of the rotating shaft according to claim 2, characterized in that: A screw support is fixed on the base, a bearing seat with a bearing is mounted on the screw support, the bearing seats are respectively mounted on both ends and a middle position of the electric screw, and the nut seats are respectively arranged between the two bearing seats.

4. The method for automatically detecting the taper of a rotating shaft according to claim 2, characterized in that: A roller is connected to the motor through a coupling, and the motor drives the roller to rotate, so that the rotor rotates with the roller.

5. The method for automatically detecting the taper of a rotating shaft according to claim 4, characterized in that: There are two ways to implement step S3. The first method is: the robot drives the roller brush to roll along the conical surface of the rotating shaft to form a full circle of red lead powder coating on the conical surface of the rotating shaft; The second method is: the robot drives the roller brush to move to the rotating shaft, and the roller drives the rotor to rotate to form a full circle coating of red lead powder on the conical surface of the rotating shaft.

6. The method for automatically detecting the taper of a rotating shaft according to claim 1, characterized in that: The outer wall of the ring gauge is provided with an annular groove, which is spaced apart in the axial direction to form a toothed structure on the outer wall of the ring gauge, and the inner wall of the claw cooperates with the toothed structure of the ring gauge.

7. The method for automatically detecting the taper of a rotating shaft according to claim 1, characterized in that: A cleaning box containing red lead powder cleaner is set next to the powder box. After completing step S3, the robot moves the roller brush to the cleaning box and drives the roller brush to rotate and clean in the cleaning box. After the roller brush completes cleaning, step S4 is performed; after completing step S7, the robot re-clamps the roller brush and drives the roller brush to clean the red lead powder coated on the conical surface of the rotating shaft. After cleaning, the roller brush is moved to the cleaning box and driven to rotate in the cleaning box to complete the cleaning of the roller brush.

8. The method for automatically detecting the taper of a rotating shaft according to claim 1, characterized in that: Step S3 specifically means that first, the robot drives the roller brush to move to coat the entire circle of red lead powder on the conical surface of the shaft. After coating, a visual camera is used to take a photo of the conical surface of the shaft and transmit it to the host computer. The host computer determines whether the coating of the red lead powder is qualified. If qualified, the coating is completed. If unqualified, the coating continues until the host computer determines that the coating of the red lead powder is qualified.

9. The method for automatically detecting the taper of a rotating shaft according to claim 1, characterized in that: A position sensor and a six-dimensional force sensor are installed at the front end of the robot. The position sensor senses the axial displacement of the robot pushing the ring gauge axially inward on the conical surface of the rotating shaft, and the six-dimensional force sensor senses the force conditions during the process of gradually pressing the ring gauge against the conical surface of the rotating shaft.

10. An automatic shaft taper detection device using the automatic shaft taper detection method according to any one of claims 1 to 9, characterized in that: It includes a roller brush for coating red lead powder, a ring gauge that can cooperate with the conical surface of the rotor shaft, a robot with a clamping claw at the front end and a powder box placed in front of the robot and filled with red lead powder. The rotor is horizontally arranged in front of the robot. The roller brush coats the red lead powder in the powder box on the conical surface of the shaft or brushes off the red lead powder on the conical surface of the shaft as the robot clamps and moves. The ring gauge is pressed against the conical surface of the shaft or removed from the conical surface of the shaft as the robot clamps and moves.

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