Automatic detection method and device for shaft taper

Abstract

The automatic detection method for the shaft taper of the application uses the gripper of the robot to hold the roller brush and drive the roller brush to move to stick the red lead powder coated on the shaft taper surface, so as to realize the automatic coating of the red lead powder on the shaft taper surface. The gripper of the robot holds the ring gauge and drives the ring gauge to gradually press against the shaft taper surface and then to be removed, so as to realize the automatic cooperation, pressing and separation of the ring gauge on the shaft taper surface. The visual camera shoots the red lead powder covering photo of the shaft taper surface after the movement of the ring gauge on the shaft taper surface, and according to the photo information, the size and surface quality of the shaft taper surface are calculated on the host computer to determine whether the size and surface quality meet the preset requirements, so as to realize the automatic acquisition and analysis of the shaft taper measurement data, realize the automatic detection of the shaft taper, solve the problems of low accuracy and efficiency of manual measurement and easy damage of the taper surface, and realize the high efficiency, high accuracy and low damage probability of the shaft taper detection and the ring gauge, and the practicality is high. The application also provides an automatic detection device for the shaft taper.

Description

Technical Field

[0001] This invention relates to an automatic detection method and device for shaft taper, belonging to the field of shaft taper detection technology. Background Technology

[0002] In tapered transmission systems, the taper quality of the shaft is crucial. Its diameter, taper, and surface contact ratio all directly affect torque transmission efficiency and reliability. In traditional manufacturing, red lead powder is pre-coated onto the tapered surface of a ring gauge, and the shaft taper is manually fitted using a tapered ring gauge. The distribution of the red lead powder is then used to confirm the shaft taper dimensions and surface quality. Because 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 work efficiency, and a lack of quantified quality standards.

[0003] Currently, shaft taper measurement is primarily done manually, and the process is as follows:

[0004] 1. Before testing, clean the tapered surface of the shaft to be tested and the testing surface of the tapered plug gauge with wiping paper. Manually apply red lead powder evenly to the tapered surface of the shaft using your palm. The uniformity and thickness of the red lead powder coating are ensured by the operator's experience and skill. Uneven coating or a coating that is too thin will result in incomplete adhesion of red lead powder to the tapered surface of the shaft, leading to a lower contact rate than the actual value. A coating that is too thick will result in the entire tapered surface being covered with red lead powder, leading to a higher contact rate than the actual value.

[0005] 2. With the shaft in a horizontal position, the operator holds the ring gauge and slides it onto the conical surface of the shaft. During the sliding process, ensure the centerline of the ring gauge coincides with the centerline of the shaft. Before fully sliding it in, avoid contact between the outer conical surface of the shaft and the inner conical surface of the ring gauge to prevent damage to the shaft or measurement errors.

[0006] 3. After the taper gauge and the shaft's tapered surface are fitted together, gently tap the end face of the gauge with a mallet to ensure a tight fit between them. The tapping force should be determined by the operator's experience and technique. If the gauge and shaft are not properly fitted, the contact rate of the shaft's taper will be lower than the actual value. Excessive fit can easily damage the shaft's taper.

[0007] 4. Use a depth gauge to measure the distance between the end face of the ring gauge and the end face of the rotating shaft.

[0008] 5. After the taper gauge is fitted with the conical surface of the rotating shaft, gently tap the other end of the gauge with a wooden mallet to separate it from the shaft. Strict control must be exercised over the force and direction of the taper. Ensure that the center line of the gauge remains aligned with the center line of the shaft during the removal process to prevent any alteration in the red lead powder adhesion, which could lead to errors in the measurement of the shaft's taper contact rate.

[0009] 6. After the ring gauge measurement is completed, use a flashlight to observe the adhesion of red lead powder on the tapered surface of the rotating shaft, manually judge the contact rate, and record the measurement value.

[0010] The existing method of manually measuring shaft taper has the following shortcomings:

[0011] 1. The uniformity and thickness of the red lead powder coating are guaranteed by the operator's experience and technique, and cannot be quantified and are dependent on the operator's experience.

[0012] 2. The entire process of fitting the ring gauge onto the rotating shaft, engaging with the rotating shaft, and retracting it from the rotating shaft requires manual control of the force applied, and it must be ensured that the center line of the ring gauge coincides with the center line of the rotating shaft. Otherwise, measurement errors or damage to the rotating shaft may occur. This operation relies on the operator's experience.

[0013] 3. After the ring gauge separates from the rotating shaft, the adhesion of red lead powder to the shaft taper is judged manually, relying on the operator's experience. Measurement data is entered manually, which is inefficient.

[0014] The purpose of this invention is to design a high-precision, automated method and device for measuring the taper of motor shafts, based on the requirements for measuring motor shaft taper, to solve the problems of low efficiency, difficulty in ensuring measurement accuracy, and easy damage to the taper surface caused by manual measurement. It enables automatic acquisition and analysis of shaft taper measurement data, achieving automatic detection of shaft taper. Summary of the Invention

[0015] The automatic detection method and device for shaft taper provided by this invention automatically collects and analyzes shaft taper measurement data, realizes automatic detection of shaft taper, and solves the problems of low accuracy and efficiency of manual measurement and easy damage to the taper surface. The shaft taper detection is highly efficient, accurate, and has a low probability of damage to the shaft taper surface and ring gauge, making it highly practical.

[0016] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0017] An automatic method for detecting the taper of a rotor shaft includes a roller brush for applying red lead powder, a ring gauge that mates with the conical surface of the rotor shaft, a robot with grippers at its front end, and a powder box containing red lead powder placed in front of the robot. The method is characterized by the following detection steps:

[0018] S1: Position the rotor horizontally in front of the robot;

[0019] S2: Use the gripper at the front of the robot to hold the roller brush and insert the roller brush into the powder box to pick up red lead powder;

[0020] S3: The robot drives the roller brush to the conical surface of the rotating shaft and coats the conical surface with red lead powder;

[0021] S4: Remove the roller brush from the gripper and clamp the ring gauge onto the gripper;

[0022] S5: The robot moves the ring gauge to be aligned with the axis of the rotating shaft and pushes the ring gauge inward along the axis to gradually press the ring gauge against the conical surface of the rotating shaft. Then, it moves the ring gauge outward along the axis to remove it from the rotating shaft.

[0023] S6: Take a picture of the rotating cone surface using the vision camera on the robot and transmit it to the host computer connected to the robot. The host computer calculates and analyzes whether the dimensions and surface quality of the rotating cone surface meet the preset requirements based on the picture.

[0024] Preferably, in step S1, the rotor is supported by a rotor support seat in a horizontal configuration. The rotor support seat includes a base, an electric lead screw mounted on the base, a roller support, and rollers 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 the two rollers. The roller supports are respectively fixed to nut seats that cooperate with the electric lead screw. The threads of the two nut seats are opposite, so that the two nut seats move closer or further apart as the electric lead screw rotates.

[0025] Preferably, a lead screw support is fixed on the base, and a bearing seat with bearings is assembled on the lead screw support. The bearing seats are respectively assembled at both ends and the middle position of the electric lead screw, and the nut seat is respectively disposed between the two bearing seats.

[0026] Preferably, one roller is connected to the motor via a coupling, and the motor drives the roller to rotate, causing the rotor to rotate with the roller.

[0027] Preferably, there are two methods for implementing step S3.

[0028] 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;

[0029] The second method is: the robot drives the roller brush to move onto the rotating shaft, and the roller drives the rotor to rotate, forming a full circle of red lead powder coating on the conical surface of the rotating shaft.

[0030] Preferably, the outer wall of the ring gauge has an annular groove, and the grooves are spaced apart along the axial direction to form a tooth-like structure on the outer wall of the ring gauge, and the inner wall of the chuck engages with the tooth-like structure of the ring gauge.

[0031] Preferably, a cleaning box containing red lead powder cleaning agent is set up 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 is cleaned, 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 rotating shaft cone surface. 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.

[0032] Preferably, step S3 specifically refers to the robot first driving the roller brush to coat the entire circle of red lead powder on the rotating shaft cone surface. After coating, a vision camera is used to take a picture of the rotating shaft cone surface and transmit it to the host computer. The host computer judges whether the coating of red lead powder is qualified. If it is qualified, the coating is completed. If it is not qualified, the coating continues until the host computer judges that the coating of red lead powder is qualified.

[0033] 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 inward along the axis on the rotating shaft cone surface, and the six-dimensional force sensor senses the force on the ring gauge as it gradually presses against the rotating shaft cone surface.

[0034] The automatic shaft taper detection device using the above-described automatic shaft taper detection method is characterized by comprising: a roller brush for coating red lead powder, an annular gauge that can mate with the shaft taper surface of the rotor, a robot with grippers at the front end, and a powder box containing red lead powder placed in front of the robot. The rotor is horizontally positioned in front of the robot. The roller brush, with the gripping and movement of the robot, coats the red lead powder in the powder box onto the shaft taper surface or brushes away and cleans the red lead powder on the shaft taper surface. The annular gauge, with the gripping and movement of the robot, is pressed onto the shaft taper surface or removed from the shaft taper surface.

[0035] The beneficial effects of the invention are:

[0036] The automatic detection method for shaft taper of the present invention uses a robot's gripper to hold a roller brush and drive the roller brush to pick up red lead powder and coat it onto the shaft taper surface, thus achieving automatic coating of red lead powder on the shaft taper surface. A robot's gripper also holds a ring gauge and gradually presses it against the shaft taper surface before removing it, achieving automatic engagement, clamping, and disengagement of the ring gauge on the shaft taper surface. A vision camera captures a photo of the red lead powder coverage on the shaft taper surface after the ring gauge has moved on the surface. Based on the photo information, a host computer calculates and analyzes whether the dimensions and surface quality of the shaft taper surface meet preset requirements, forming an automatic acquisition and analysis of shaft taper measurement data. This achieves automatic detection of shaft taper, solving the problems of low accuracy and efficiency of manual measurement and easy damage to the taper surface. The method offers high efficiency, guaranteed accuracy, and a low probability of damage to the shaft taper surface and ring gauge, making it highly practical.

[0037] The rotor is supported by a rotor support base. An electric screw in the rotor support base adjusts the distance between two rollers to accommodate rotors of different diameters. When there are significant differences in the outer diameter of the rotor, rollers of different diameters can be replaced to support rotors of different sizes. The rotation of the rollers drives the rotor to rotate 360 ​​degrees, achieving the rotation of the shaft's conical surface. During the coating of red lead powder, the rotation of the shaft causes the rollers to roll relative to the shaft, ensuring uniform coating of the red lead powder. The orientation of the shaft's conical surface can be appropriately adjusted according to the coating requirements to ensure the reliability and effectiveness of the coating.

[0038] Position sensors and six-dimensional force sensors are installed at the front end of the robot. The position sensor feeds back signals 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 far. The six-dimensional sensor feeds back signals to adjust the force and position of the ring gauge moving inward on the rotating shaft cone surface in real time, ensuring that the ring gauge and the rotating shaft cone surface remain aligned with the central axis during the pressing process. This makes the ring gauge and the rotating shaft cone surface bear force evenly, effectively reducing the risk of damage to the ring gauge and the rotating shaft cone surface, and improving the safety and reliability of the inspection. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of a robot moving a roller brush onto the conical surface of a rotating shaft.

[0040] Figure 2 This is a schematic diagram of a robot moving a ring gauge to align it with the axis of rotation.

[0041] Figure 3 This is a schematic diagram of a robot pushing a ring gauge inward along the axis to press it against the conical surface of the rotating shaft.

[0042] Figure 4 This is a schematic diagram of a rotor support base supporting the rotor.

[0043] Figure 5 This is a schematic diagram showing the connection between the motor and the roller.

[0044] Figure 6 A schematic diagram of a vision camera taking a picture of a rotating cone surface. Detailed Implementation

[0045] The following is combined Figures 1-6 The embodiments of the present invention will be described in detail below.

[0046] An automatic method for detecting the taper of a rotating shaft includes a roller brush 1 for coating red lead powder, an annular gauge 2 that mates with the shaft tapered surface 100 of the rotor, a robot 4 with grippers 3 at its front end, and a powder box 5 containing red lead powder placed in front of the robot 4. The method is characterized by the following detection steps:

[0047] S1: Position the rotor 101 horizontally in front of the robot 4;

[0048] S2: Use the gripper 3 at the front end of the robot 4 to hold the roller brush 1 and insert the roller brush 1 into the powder box 5 to pick up red lead powder;

[0049] S3: The robot drives the roller brush to the conical surface of the rotating shaft and coats the conical surface with red lead powder;

[0050] S4: Remove the roller brush 1 from the gripper 3 and clamp the ring gauge 2 onto the gripper 3;

[0051] S5: Robot 4 moves ring gauge 5 to be aligned with the axis of the rotating shaft and pushes ring gauge 2 inward along the axis, so that ring gauge 2 is gradually pressed against the cone surface 100 of the rotating shaft, and then drives ring gauge 2 to move outward along the axis to be removed from the rotating shaft.

[0052] S6: Take a picture of the rotating cone surface 100 using the vision camera 6 on robot 4 and transmit it to the host computer connected to the robot. The host computer calculates and analyzes whether the dimensions and surface quality of the rotating cone surface meet the preset requirements based on the picture of the rotating cone surface.

[0053] The automatic shaft taper detection method described above uses the gripper 3 of robot 4 to hold the roller brush 1 and drive the roller brush 1 to pick up red lead powder and coat it onto the shaft conical surface 100, thus achieving automatic coating of red lead powder on the shaft conical surface. The gripper 3 of robot 4 holds the ring gauge 2 and drives the ring gauge 2 to gradually press against the shaft conical surface 100 and then remove it, thus achieving automatic engagement, pressing, and disengagement of the ring gauge 2 on the shaft conical surface. A vision camera 6 takes a picture of the red lead powder coverage on the shaft conical surface after the ring gauge 2 moves on the shaft conical surface. Based on the picture information, the host computer calculates and analyzes whether the dimensions and surface quality of the shaft conical surface meet the preset requirements, forming automatic acquisition and analysis of shaft taper measurement data, thus achieving automatic detection of shaft taper. This solves the problems of low accuracy and efficiency of manual measurement and easy damage to the conical surface. The shaft taper detection is highly efficient, accurate, and has a low probability of damage to the shaft conical surface and ring gauge, making it highly practical.

[0054] In step S1, the rotor 101 is horizontally supported by a rotor support 7. The rotor support 7 includes a base 8, an electric lead screw 9 mounted on the base 8, roller supports 10, and rollers 11 mounted on the roller supports 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. The roller supports 10 are respectively fixed to nut seats 12 that cooperate with the electric lead screw 9. The threads of the two nut seats 12 are opposite, so that the two nut seats 12 move closer or further apart as the electric lead screw 9 rotates. Figure 4 As shown, the rotor is supported by two rollers 11, and the rotor is axially horizontal. The electric lead screw 9 can adjust the distance between the two nut seats 12, which in turn adjusts the distance between the two rollers 11. This allows for support of rotors with different diameters. When the outer diameter of the rotor varies significantly, rollers 11 of different diameters can be replaced to support rotors of different sizes. The rotor 101 is supported on the rollers 11, and the rotation of the rollers 11 drives the rotor to rotate, achieving a 306-degree rotational displacement of the rotor. This causes the conical surface 100 of the rotating shaft to rotate, facilitating the full-circle coating of red lead powder on the conical surface of the rotating shaft.

[0055] The base 8 is fixed with a lead screw support 13, and a bearing seat 14 with bearings is mounted on the lead screw support 13. The bearing seats 14 are respectively mounted at both ends and the middle position of the electric lead screw 9. Nut seats 12 are respectively set between the two bearing seats 14. The bearing seats 14 are used to support the electric lead screw 9 and prevent the electric lead screw 9 from bending or tilting. The two nut seats 12 are respectively installed between the two bearing seats 14, and the bearing seat 14 in the middle position separates the two nut seats 12 to avoid collision between the guide wheel support 10 and the lead screw nut 12 due to excessive proximity during operation, thereby improving the structural reliability and safety.

[0056] One roller 11 is connected to the motor 15 via a coupling. The motor 15 drives the roller 11 to rotate, causing the rotor 101 to rotate along with the roller 11. The roller connected to the motor 15 is the driving roller, and the other roller is the driven roller. The rotation of the driving roller can drive the rotor to rotate 360 ​​degrees, realizing the rotation of the shaft conical surface. When applying red lead powder, the rotation of the shaft causes the roller 11 to roll relative to the shaft, ensuring uniform coating of red lead powder. The orientation of the shaft conical surface can be appropriately changed according to the coating requirements to ensure the reliability and effectiveness of the coating.

[0057] Preferably, there are two methods for implementing step S3.

[0058] The first method is: 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;

[0059] 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, forming a full circle of red lead powder coating on the conical surface 100 of the rotating shaft.

[0060] There are two methods for coating red lead powder on the conical surface of the rotating shaft. The first method is that the robot drives the roller brush 1 to roll on the conical surface 100 of the rotating shaft while the conical surface remains stationary. The second method is that the robot drives the roller brush 1 to move onto the rotating shaft, and the roller 11 drives the rotor 101 to rotate, causing the conical surface 100 of the rotating shaft to rotate while the roller brush 1 remains stationary. Both methods can coat red lead powder. The second method can coat red lead powder evenly and can appropriately change the orientation of the conical surface of the rotating shaft according to the coating requirements, ensuring the reliability and effectiveness of the coating.

[0061] The outer wall of the ring gauge 2 has an annular groove 21, which is spaced axially to form a toothed structure on the outer wall of the ring gauge. The inner wall of the jaw 3 engages with the toothed structure of the ring gauge. The toothed engagement between the ring gauge 2 and the jaw 3 increases the clamping force between the jaw 3 and the ring gauge 2, improves clamping stability, and forms an axial positioning engagement between the jaw 3 and the ring gauge 2, thereby driving the ring gauge 2 to move axially and improving the reliability of the ring gauge 2's clamping engagement and disengagement from the rotating shaft conical surface 100.

[0062] A cleaning box 16 containing red lead powder cleaning agent is placed next to the powder box 5. After completing step S3, robot 4 moves the roller brush 1 to the cleaning box 16 and drives the roller brush 1 to rotate and clean within the cleaning box 16. After the roller brush is cleaned, step S4 is performed. After completing step S7, robot 4 re-clamps the roller brush 1 and drives the roller brush 1 to clean the red lead powder coated on the rotating shaft conical surface 100. After cleaning, the roller brush 1 is moved to the cleaning box 16 and driven to rotate within the cleaning box, completing the cleaning of the roller brush 1. The setting of the cleaning box 16 enables the roller brush 1 to be automatically cleaned and cleans the red lead powder coated on the rotating shaft conical surface 100 after the inspection is completed, realizing the full automation of the rotating shaft taper inspection process and further improving the automation level of the inspection.

[0063] Specifically, step S3 involves the robot 4 driving the roller brush 1 to coat the entire circle of red lead powder on the rotating conical surface 100. After coating, a vision camera 6 takes a picture of the rotating conical surface and transmits it to the host computer. The host computer then determines whether the red lead powder coating is satisfactory. If it is satisfactory, the coating is complete; if not, coating continues until the host computer determines that the red lead powder coating is satisfactory. By taking pictures with the vision camera 6 and transmitting them to the host computer, the coating effect of red lead powder on the rotating conical surface 100 is detected. If the coating is unsatisfactory, it is recoated until the coating is satisfactory, ensuring the reliability of the automatic red lead powder coating.

[0064] The system incorporates a position sensor and a six-dimensional force sensor at the front end of the robot. The position sensor detects the axial displacement of the ring gauge as the robot pushes it inward along the pivot cone 100. The six-dimensional force sensor detects the force acting on the ring gauge as it gradually presses against the pivot cone 100. The position sensor's feedback signals are used to adjust the ring gauge's movement depth on the pivot in real time, preventing over-pressuring. The six-dimensional force sensor's feedback signals are used to adjust the force and position of the ring gauge's inward movement on the pivot cone, ensuring the ring gauge remains aligned with the pivot cone's central axis during pressing. This results in uniform force distribution between the ring gauge and the pivot cone, effectively reducing the risk of damage to both and improving the safety and reliability of the inspection.

[0065] The automatic shaft taper detection device using the above-described automatic shaft taper detection method is characterized by comprising: a roller brush 1 for coating red lead powder, an annular gauge 2 that can mate with the shaft taper surface of the rotor, a robot 4 with a gripper 3 at the front end, and a powder box 5 containing red lead powder placed in front of the robot. The rotor 101 is horizontally positioned in front of the robot 4. The roller brush 1, with the gripping and movement of the robot, coats the red lead powder in the powder box 5 onto the shaft taper surface 101 or brushes away and cleans the red lead powder on the shaft taper surface. The annular gauge 2, with the gripping and movement of the robot 4, is pressed against the shaft taper surface or removed from the shaft taper surface.

[0066] The automatic shaft taper detection device described above uses the gripper 3 of robot 4 to hold the roller brush 1 and drive the roller brush 1 to pick up red lead powder and coat it onto the shaft conical surface 100, thus achieving automatic coating of red lead powder on the shaft conical surface. The gripper 3 of robot 4 holds the ring gauge 2 and drives the ring gauge 2 to gradually press against the shaft conical surface 100 and then remove it, thus achieving automatic engagement, pressing, and disengagement of the ring gauge 2 on the shaft conical surface. A vision camera 6 takes a picture of the red lead powder coverage on the shaft conical surface 100 after the ring gauge 2 moves on the shaft conical surface 100. Based on the picture information, the host computer calculates and analyzes whether the dimensions and surface quality of the shaft conical surface meet the preset requirements, forming automatic acquisition and analysis of shaft taper measurement data, thus achieving automatic detection of shaft taper. This solves the problems of low accuracy and efficiency of manual measurement and easy damage to the conical surface. The shaft taper detection is highly efficient, accurate, and has a low probability of damage to the shaft conical surface and ring gauge, making it highly practical.

[0067] The technical solutions of the embodiments of the present invention have been fully described above with reference to the accompanying drawings. It should be noted that the described embodiments are only a part of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. Automatic detection method for shaft taper: The automatic detection device for shaft taper is used for detection. The automatic detection device for shaft taper includes a roller brush for coating red lead powder, an annular gauge that can mate with the shaft taper surface of the rotor, a robot with a gripper at the front end, and a powder box containing red lead powder placed in front of the robot. The rotor is horizontally positioned in front of the robot. The roller brush coats the red lead powder in the powder box onto the shaft taper surface or brushes away the red lead powder on the shaft taper surface as the robot grips and moves. The annular gauge is pressed onto the shaft taper surface or removed from the shaft taper surface as the robot grips and moves. 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 inward along the axis on the rotating shaft cone surface, and the six-dimensional force sensor senses the force on the ring gauge as it gradually presses against the rotating shaft cone surface. Its features are, The testing steps include: S1: Position the rotor horizontally in front of the robot; S2: Use the gripper at the front of the robot to hold the roller brush and insert the roller brush into the powder box to pick up red lead powder; S3: The robot drives the roller brush to the conical surface of the rotating shaft and coats the conical surface with red lead powder; S4: Remove the roller brush from the gripper and clamp the ring gauge onto the gripper; S5: The robot moves the ring gauge to be aligned with the axis of the rotating shaft and pushes the ring gauge inward along the axis to gradually press the ring gauge against the conical surface of the rotating shaft. Then, it moves the ring gauge outward along the axis to remove it from the rotating shaft. S6: Take a picture of the rotating cone surface using the vision camera on the robot and transmit it to the host computer connected to the robot. The host computer calculates and analyzes whether the dimensions and surface quality of the rotating cone surface meet the preset requirements based on the picture.

2. The automatic detection method for shaft taper according to claim 1, characterized in that: In step S1, the rotor is supported by a rotor support seat in a horizontal configuration. The rotor support seat includes a base, an electric lead screw mounted on the base, a roller support, and rollers 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 the two rollers. The roller supports are respectively fixed on nut seats that cooperate with the electric lead screw. The threads of the two nut seats are opposite, so that the two nut seats move closer or further apart as the electric lead screw rotates.

3. The automatic detection method for shaft taper according to claim 2, characterized in that: The base is fixed with a lead screw support, and the lead screw support is equipped with a bearing seat with bearings. The bearing seats are respectively installed at both ends and the middle position of the electric lead screw, and the nut seat is respectively set between the two bearing seats.

4. The automatic detection method for shaft taper according to claim 2, characterized in that: A roller is connected to a motor via a coupling. The motor drives the roller to rotate, causing the rotor to rotate along with the roller.

5. The automatic detection method for shaft taper according to claim 4, characterized in that: There are two methods 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 onto the rotating shaft, and the roller drives the rotor to rotate, forming a full circle of red lead powder coating on the conical surface of the rotating shaft.

6. The automatic detection method for shaft taper according to claim 1, characterized in that: The outer wall of the ring gauge has an annular groove, and the grooves are spaced apart along the axial direction to form a tooth-like structure on the outer wall of the ring gauge. The inner wall of the chuck engages with the tooth-like structure of the ring gauge.

7. The automatic detection method for shaft taper according to claim 1, characterized in that: A cleaning box containing red lead powder cleaner is placed next to the powder box. After completing step S3, the robot moves the roller brush to the cleaning box and rotates the roller brush in the cleaning box to clean it. After the roller brush is cleaned, step S4 is performed. After completing step S6, the robot re-clamps the roller brush and drives the roller brush to clean the red lead powder coated on the rotating shaft cone surface. After cleaning, the roller brush is moved to the cleaning box and rotated in the cleaning box to complete the cleaning of the roller brush.

8. The automatic detection method for shaft taper according to claim 1, characterized in that: Step S3 specifically refers to the robot first driving the roller brush to coat the entire circle of red lead powder on the rotating shaft cone surface. After coating, a vision camera is used to take a picture of the rotating shaft cone surface and transmit it to the host computer. The host computer judges whether the coating of red lead powder is qualified. If it is qualified, the coating is completed. If it is not qualified, the coating continues until the host computer judges that the coating of red lead powder is qualified.

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