Automatic detection device for slicing circular knife of agricultural and sideline products and use method of automatic detection device

Abstract

The invention belongs to the technical field of distance laser measurement, and relates to an agricultural and sideline product slicing circular knife automatic detection device and a use method. The pressing air cylinder is completely unfolded, the pressing spring is driven to press the sliding block connecting plate, the sliding block assembly and the pressing wheel assembly are pushed to horizontally move rightwards, the cutting edge enters the pressing wheel groove, and then the cutting edge abuts against the groove bottom inner edge line of the pressing wheel groove to be in a stable state. The axial laser sensor and the radial laser sensor collect data, the servo motor drives the slicing circular knife to slowly rotate at a constant speed, and meanwhile the collected data are stored. The rotation angle of the servo motor, the axial displacement collected by the axial laser sensor and the radial displacement collected by the radial laser sensor are recorded and stored in a one-to-one correspondence mode. When the rotation angle of the servo motor reaches 360 degrees, the servo motor stops, and the axial laser sensor and the radial laser sensor stop collecting. The device automatically completes measurement, is high in measurement speed and data analysis speed, is objective in measurement result, is stable in measurement data, is small in error, saves manpower, and reduces the labor intensity.

Description

Technical Field

[0001] The invention belongs to the technical field of distance laser measurement, relates to a circular blade external dimension measurement technology, and specifically relates to an automatic detection device for agricultural and sideline product slicing circular knives and a use method thereof. Background Art

[0002] Agricultural and sideline products are often sliced ​​with a slicing circular knife. The slicing circular knife is disc-shaped, with a blade around the edge and a sharp blade angle. The center is a center hole, and four fixed holes are evenly distributed around the center hole. The slicing circular knife is fixed on the drive shaft of the meat slicer through the fixed holes. The most typical application example is the meat slicer. Frozen beef or mutton and other meat materials are clamped on the meat slicer. The high-speed rotating slicing circular knife is close to the meat material, which can be cut into a thin layer like paper, with uniform thickness, smooth cut surface, and neatly rolled into rolls. The diameter of the meat rolls is the same. When eating, it is cooked in boiling water for four or five minutes, which is very convenient to eat. Many other agricultural and sideline products also need to be sliced ​​with slicing circular knives, such as hawthorn, mulberry branches, ginseng and other Chinese medicines. Cutting them into slices of uniform thickness before decocting can make the medicine play a better medicinal property; some fruits and vegetables are also cut into slices of uniform thickness with slicing circular knives before drying, so that the temperature and humidity conditions can be controlled during drying to make the products dehydrated evenly.

[0003] Before installing the circular slicing knife on the meat slicer, the circular slicing knife must be inspected one by one to check whether there are any defects in its appearance and whether it meets the installation standards. There are two main defects of the circular slicing knife. One is the chipping of the blade, which produces a notch on the blade, and the other is bending deformation, that is, the various parts of the blade are not on the same plane circle, but a part is bent in the axial direction. If a defective circular slicing knife is installed on the meat slicer, the thickness of the sliced ​​meat will be uneven, the cut surface will not be smooth, the diameter of the meat roll will be uneven, and the different thickness parts will not mature at the same time when boiled. After four or five minutes, the thick part is still not cooked, resulting in a raw phenomenon, which seriously affects the taste and appearance.

[0004] At present, there is no special measuring instrument for slicing circular knives. They are measured manually using universal measuring tools. The blade is observed by naked eye to see if there is any chipping. The slicing circular knife is laid flat on the measuring platform, and the flatness error of the blade is measured with a feeler gauge. The measurement speed is slow, the data analysis is slow, the work efficiency is low, the measurement is subjective, and the measurement error is large. Different workers may have different evaluation results when measuring the same slicing circular knife. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic detection device for agricultural and sideline products slicing circular knives and a method for using the same. The present invention automatically completes the measurement, has a fast measurement speed, fast data analysis, objective measurement results, stable measurement data, relatively small errors, saves manpower, and reduces labor intensity.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An automatic detection device for circular knife for slicing agricultural and sideline products, comprising an axial laser sensor, a follower assembly and a driving assembly; the driving assembly comprises three clamping claws, a pneumatic three-claw and a servo motor; the housing of the servo motor is fixedly connected to a frame; the pneumatic three-claw comprises a pneumatic three-claw cylinder and three pneumatic three-claw claw bodies; the pneumatic three-claw cylinder is fixedly connected to the output shaft of the servo motor, and the three clamping claws are fixedly connected to the three pneumatic three-claw claw bodies respectively; the axis center line of the pneumatic three-claw coincides with the axis center line of the output shaft of the servo motor; the three pneumatic three-claw claw bodies of the pneumatic three-claw face forward, and the servo motor is in the pneumatic three-claw The rear part; the clamping claw is provided with a clamping positioning plane facing forward and a clamping surface facing away from the axis center line of the servo motor output shaft; the three clamping claws are evenly distributed in a circular array around the axis center line of the servo motor output shaft; the center hole of the slicing circular knife surrounds the periphery of the three clamping surfaces, and the plane of the slicing circular knife facing backward is simultaneously pressed against the three clamping positioning planes of the three clamping claws, and the pneumatic three-claw drives the three clamping claws to synchronously translate away from the axis center line of the pneumatic three-claw, and the three clamping surfaces simultaneously clamp three parts of the center hole in different directions, so that the slicing circular knife and the three clamping claws are fixedly connected as one, thereby achieving the purpose of accurately positioning the slicing circular knife;

[0008] The follower assembly includes a pressure wheel assembly and a slider assembly; the pressure wheel assembly includes a pressure wheel, a pressure wheel bracket and an axial guide rail; the pressure wheel and the pressure wheel bracket are connected by a rotating pair, and the axial guide rail and the pressure wheel bracket are fixedly connected; the length direction of the axial guide rail is arranged along the front-to-back direction, that is, the axial direction of the slicing circular knife; the slider assembly includes an axial slider; the axial slider and the axial guide rail form a linear guide pair, and the pressure wheel assembly translates along the front-to-back direction; a pressure wheel groove is arranged on the rim of the pressure wheel, and the two groove edges of the pressure wheel groove form a pressure wheel groove angle A, and the two side surfaces of the slicing circular knife form a blade angle B, the pressure wheel groove angle A is greater than the blade angle B, the blade is embedded in the pressure wheel groove and presses the inner ridge line of the groove bottom of the pressure wheel groove, and the two side surfaces of the blade and the two groove edges of the pressure wheel groove are not close to each other, and a wedge-shaped gap is left;

[0009] The axial laser sensor is fixedly connected to the frame and is located directly in front of the pressure wheel bracket. The pressure wheel bracket has a first irradiation area corresponding to the rear of the axial laser sensor. The axial laser sensor detects the displacement change of the first irradiation area in the front-rear direction.

[0010] Make the blade always close to the inner ridge line of the bottom of the pressure wheel groove. If there is axial deviation on the blade, that is, the circular blade is not on the same plane, but has wave deformation in the front-to-back direction, the wave deformation will drive the pressure wheel to translate in the front-to-back direction. The axial laser sensor detects the axial displacement of the first irradiation area in the front-to-back direction, and the detection data corresponds to the deviation of each point on the wave deformation.

[0011] The follower assembly also includes a radial guide rail, and the slider assembly also includes a slider connecting plate and a radial slider. The axial slider, the slider connecting plate and the radial slider are fixedly connected to form a whole; the radial guide rail is arranged along the left and right direction, that is, the radial direction of the slicing circular knife, the radial guide rail is fixedly connected to the frame, the radial guide rail and the radial slider form a linear guide pair, and the slider assembly translates along the left and right direction.

[0012] The follower assembly also includes a clamping spring; the right end of the clamping spring clamps the left end surface of the slider connecting plate, causing the pressure wheel assembly and the slider assembly to tend to translate to the left, ensuring that the blade is always close to the inner ridge line of the bottom of the pressure wheel groove; if the blade deviates from the inner ridge line of the bottom of the groove and deviates to one side of the groove edge, it will be in an unstable state under the elastic force of the clamping spring, and will immediately slide to the inner ridge line of the bottom of the groove and become stable.

[0013] The follower assembly also includes a clamping cylinder and a spring guide rod; the left end of the clamping cylinder is fixedly connected to the frame; the left end of the spring guide rod is fixedly connected to the right end of the clamping cylinder, the slider connecting plate is provided with a guide rod through-hole, the right end of the spring guide rod passes through the guide rod through-hole, a protrusion is provided at the right end of the spring guide rod, and the diameter of the protrusion is larger than the diameter of the guide rod through-hole; the clamping spring is sleeved on the periphery of the spring guide rod, and the left end of the clamping spring presses the right end of the clamping cylinder;

[0014] During testing, the clamping cylinder is fully extended, driving the clamping spring to clamp the slider connecting plate. At this time, the protrusion leaves the slider connecting plate, and the blade is close to the inner ridge line of the bottom of the pressure wheel groove; when installing and disassembling the slicing circular knife, the clamping cylinder is fully retracted, and under the elastic force of the clamping spring, the protrusion presses the slider connecting plate, and the pressure wheel groove is away from the slicing circular knife.

[0015] The present invention also includes a radial laser sensor; the radial laser sensor is fixedly connected to the frame; the radial laser sensor is located directly to the left of the pressure wheel bracket; a second irradiation area facing left is set on the pressure wheel bracket, and the radial laser sensor detects the displacement change of the second irradiation area in the left and right directions.

[0016] When the notch rotates to the position where it contacts the pressure wheel groove, the bottom of the pressure wheel groove contacts the notch under the elastic force of the compression spring, rolls along the contour of the notch and produces radial displacement. The pressure wheel assembly and the slider assembly move synchronously, and the radial laser sensor detects the radial displacement of the second irradiation area in the left and right directions. The detection data and the deviation of each point on the notch relative to the normal blade ring correspond one to one.

[0017] The present invention also includes a transport and clamping assembly, which includes four clamping claws and a pneumatic four-claw, and the pneumatic four-claw includes a pneumatic four-claw cylinder and four pneumatic four-claw claw bodies, and the four clamping claws are respectively fixedly connected to the four pneumatic four-claw claw bodies; the four pneumatic four-claw claw bodies of the pneumatic four-claw face backwards; clamping positioning planes located on the same plane are respectively arranged on the clamping claws, and clamping pins are respectively arranged on the four clamping positioning planes, and the four clamping pins are evenly arranged in a circular array around the axis of the pneumatic four-claw, and the four clamping pins are respectively inserted into the four fixing holes of the slicing circular knife, and the front side plane of the slicing circular knife is close to the clamping positioning plane, and the pneumatic four-claw drives the four clamping pins to synchronously move away from the axis of the pneumatic four-claw, and clamp the four fixing holes in four directions respectively, so that the slicing circular knife is finally accurately positioned, and the axis of the slicing circular knife coincides with the axis of the pneumatic four-claw.

[0018] The carrying and clamping assembly also includes a ball head, a ball socket, a positioning member and a positioning cylinder; the ball head includes a hemispherical head, a connecting rod and a ball head connecting plate; the size of the hemispherical head is larger than the hemisphere, and the front end of the hemispherical head is provided with a ball head positioning plane perpendicular to the front and rear directions, the front end of the connecting rod is fixedly connected to the rear end of the hemispherical head, the rear end of the connecting rod is fixedly connected to the ball head connecting plate, the ball head connecting plate and the rear end of the pneumatic four claws are fixedly connected, and the center of the hemispherical head is located on the axis line of the pneumatic four claws; the ball head positioning plane is provided with a ball tail positioning groove; the ball socket includes a ball shell and a robot connecting plate, the ball shell is behind the robot connecting plate, the ball shell has an inner spherical surface, the ball shell has a larger opening in the front and a smaller opening in the back, i.e., a connecting rod hole, the hemispherical head and the inner spherical surface form a spherical pair, the hemispherical head and the inner spherical surface are embedded in each other and can only rotate but not separate, and the connecting rod passes through the connecting rod hole; the front end and The robot connecting plate is fixedly connected at the back, and the rear end of the positioning cylinder is fixedly connected to the positioning piece. The positioning piece is provided with a cylinder end positioning plane facing backwards, and a cylinder end positioning wedge is provided on the cylinder end positioning plane. The cylinder end positioning wedge is a wedge-shaped wedge with a larger root size and a smaller tip size. The shape of the cylinder end positioning wedge matches the shape of the ball tail positioning groove. The positioning cylinder is a cylinder with a guide rod. When the positioning cylinder is extended, the cylinder end positioning plane drives the ball head positioning plane to rotate and finally the two fit together. The cylinder end positioning wedge is embedded in the ball tail positioning groove, and at the same time, the hemispherical head rotates in the inner spherical surface. The final result is that the ball head part, the ball socket part, the positioning piece and the positioning cylinder, and the pneumatic four claws become a whole that is fixed to each other, accurately positioned to each other, and relatively immovable. When the positioning cylinder contracts, the contraction stroke generally does not need to be too large, two or three millimeters are large enough, then the cylinder end positioning plane leaves the ball head positioning plane, the cylinder end positioning wedge leaves the ball tail positioning groove, and the hemispherical head rotates freely in the inner spherical surface.

[0019] The present invention also includes a handling robot, wherein the end of the mechanical arm of the handling robot is fixedly connected to the front of the robot connecting plate. The handling robot is flexible in movement and can drive the handling clamping assembly to clamp the slicing circular knife to be measured on other turnover equipment.

[0020] The present invention also includes a PLC programmable logic controller. The axial laser sensor, radial laser sensor, pneumatic three-claw, servo motor, clamping cylinder, pneumatic four-claw, positioning cylinder and handling robot are electrically connected to the PLC programmable logic controller respectively. The PLC programmable logic controller coordinates and drives each actuator to move, and collects and saves data.

[0021] The carrying and clamping assembly also includes a soft-tip marker, and the ball head piece is also provided with a pen clip. The soft-tip marker is fixedly clamped on the pen clip, and the tip of the soft-tip marker faces backward. The soft-tip marker is fixed at the left side of the pneumatic four-claw. When the carrying and clamping assembly clamps the slicing circular knife, a point is drawn on the left side of the center hole of the slicing circular knife. The line connecting the center of the slicing circular knife and the point is used as a reference line for the angle. After the data is collected, the angle corresponding to the collected data can be quickly found through the reference line.

[0022] The working process of the present invention is like this.

[0023] 1. The handling robot drives the handling clamping assembly to the nearby turnover equipment to clamp the slicing circular knife to be measured. Use a soft-tipped marker to draw a point on the slicing circular knife, and the line connecting the center of the slicing circular knife and the point is used as the reference line for the angle.

[0024] 2. The handling robot drives the slicing circular knife to move toward the pneumatic three-claw, so that the slicing circular knife is located in front of the pneumatic three-claw, and the axis lines of the two coincide. At this time, the point drawn by the soft-tip marker on the slicing circular knife is located on the left side of the center hole.

[0025] 3. The handling robot drives the slicing circular knife to continue to move backward, so that the center hole of the slicing circular knife surrounds the three supporting surfaces, and the backward plane of the slicing circular knife is close to the three supporting positioning planes at the same time; however, because there are always errors between the joints of the handling robot and the thickness error of the slicing circular knife, it is difficult to ensure that the backward plane of the slicing circular knife is close to the three supporting positioning planes at the same time. There may be some individual ones that are not close, with a little gap and positioning error; a very small gap error will cause the blade to deviate from the ideal position, which may be mistaken for wave deformation of the blade, resulting in errors in data detection. To prevent this from happening, the positioning cylinder contracts, the positioning plane at the cylinder end leaves the ball head positioning plane by one to two millimeters, the positioning wedge at the cylinder end leaves the ball tail positioning groove, and the hemispherical head rotates freely in a small range within the inner sphere. The handling robot drives the slicing circular knife to continue to translate backward. It is in a stable state only when the backward plane of the slicing circular knife is close to the three tightening positioning planes at the same time. At this time, the pneumatic three-claw drives the three tightening claws to translate synchronously away from the axis of the pneumatic three-claw. The three tightening surfaces simultaneously tighten three parts of the center hole in different directions, so that the slicing circular knife and the three tightening claws are fixedly connected to form a relatively immovable whole. The axis of the slicing circular knife and the pneumatic three-claw coincide, so that the slicing circular knife is accurately positioned.

[0026] 4. The pneumatic four-claw drives the four clamping pins to move synchronously away from the axis of the pneumatic four-claw, thereby releasing the clamping of the four fixing holes.

[0027] 5. The transport robot drives the transport clamping assembly to leave the space in front of the slicing circular knife.

[0028] 6. The positioning cylinder extends, and the positioning plane at the cylinder end drives the positioning plane of the ball head to rotate, and finally the two fit together. The positioning wedge at the cylinder end is embedded in the positioning groove at the ball tail. At the same time, the hemispherical head rotates in the inner spherical surface. The ball head part, ball socket part, positioning part and positioning cylinder, and pneumatic four claws become a whole that is fixed to each other, accurately positioned to each other, and relatively immovable.

[0029] 7. The clamping cylinder is fully extended, driving the clamping spring to clamp the slider connecting plate, pushing the slider assembly and the pressure wheel assembly to move horizontally to the right, and the blade enters the pressure wheel groove, and then the blade is close to the inner ridge line of the bottom of the pressure wheel groove to become a stable state.

[0030] 8. The axial laser sensor and radial laser sensor collect data, and the servo motor drives the slicing circular knife to rotate slowly and uniformly, while saving the collected data. The rotation angle of the servo motor, the axial displacement collected by the axial laser sensor, and the radial displacement collected by the radial laser sensor are recorded and saved one by one.

[0031] 9. When the rotation angle of the servo motor reaches 360 degrees, the points on the blade corresponding to all angles of the circumference are detected, the servo motor stops rotating, and the axial laser sensor and radial laser sensor stop collecting data.

[0032] 10. The clamping cylinder is fully retracted, and the projection clamps the slider connecting plate under the elastic force of the clamping spring, and the pressure wheel groove is away from the slicing circular knife.

[0033] 11. The handling robot drives the handling clamping assembly to move so that the axis line of the pneumatic four-claw coincides with the axis line of the pneumatic three-claw, and the four clamping pins are respectively inserted into the four fixing holes. The pneumatic four-claw drives the four clamping pins to move synchronously toward the axis line of the pneumatic four-claw until the four fixing holes are clamped.

[0034] 12. The pneumatic three-jaw drives the three clamping jaws to move synchronously toward the axis of the pneumatic three-jaw, and the three clamping surfaces simultaneously leave the contact surface with the center hole wall, releasing the clamping of the slicing circular knife.

[0035] 13. The handling robot drives the slicing circular knife to move, removes the clamping claws, and transports it to the turnover equipment next to it, completing one inspection cycle.

[0036] 14. Analyze and calculate the collected data, and draw a conclusion on whether the slicing circular knife is qualified or unqualified.

[0037] A method for using an automatic detection device for agricultural and sideline products slicing circular knives comprises the following steps:

[0038] ST1. The handling robot drives the slicing circular knife to move toward the pneumatic three-claw, so that the slicing circular knife is located in front of the pneumatic three-claw, so that the center hole of the slicing circular knife surrounds the periphery of the three tightening surfaces, and the rearward plane of the slicing circular knife is close to the three tightening positioning planes at the same time;

[0039] ST2. Positioning cylinder retracts;

[0040] ST3. The pneumatic three-claw drives the three clamping claws to move synchronously away from the axis of the pneumatic three-claw;

[0041] ST4. The pneumatic four-claw drives the four clamping pins to move synchronously away from the axis of the pneumatic four-claw;

[0042] ST5. The handling robot drives the handling and clamping components away;

[0043] ST6. Positioning cylinder extension;

[0044] ST7. Press the cylinder to extend;

[0045] ST8. The axial laser sensor and radial laser sensor collect data, and the servo motor drives the slicing circular knife to rotate slowly and uniformly, while saving the collected data; the rotation angle of the servo motor, the axial displacement collected by the axial laser sensor, and the radial displacement collected by the radial laser sensor are recorded and saved one by one;

[0046] ST9. When the rotation angle of the servo motor reaches 360 degrees, the servo motor stops rotating, and the axial laser sensor and radial laser sensor stop collecting data;

[0047] ST10. The compression cylinder is fully retracted;

[0048] ST11. The handling robot drives the handling clamping assembly to move, so that the four clamping pins are respectively inserted into the four fixing holes, and the pneumatic four-claw drives the four clamping pins to move synchronously toward the axis of the pneumatic four-claw;

[0049] ST12. The pneumatic three-claw drives the three clamping claws to move synchronously toward the axis of the pneumatic three-claw;

[0050] ST13. The handling robot drives the slicing circular knife to move away from the clamping claws.

[0051] Compared with the prior art, the invention has the following beneficial effects: it is specially used for measuring the outer dimensions of the blade of a slicing circular knife, automatically completes the measurement, has a fast measurement speed, fast data analysis, objective measurement results, stable measurement data, relatively small errors, saves labor, and reduces labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a schematic diagram of the three-dimensional structure of Example 1 of the present invention;

[0053] Figure 2 It is a schematic diagram of the three-dimensional structure of the slicing circular knife;

[0054] Figure 3 It is a three-dimensional structural schematic diagram of the follower component;

[0055] Figure 4 is a three-dimensional structural schematic diagram of the pressure wheel assembly;

[0056] Figure 5 is a top view of the pressure wheel;

[0057] Figure 6 It is a three-dimensional structural schematic diagram of the slider assembly;

[0058] Figure 7 It is a three-dimensional structural schematic diagram of a combination of a compression spring, a compression cylinder and a spring guide rod;

[0059] Figure 8 It is a three-dimensional structural schematic diagram of the drive component;

[0060] Fig. 9 It is a schematic diagram of the three-dimensional structure of the clamping claw;

[0061] Fig.10 It is a three-dimensional structural schematic diagram of the handling and clamping assembly;

[0062] Fig.11is a front cross-sectional view of the handling and clamping assembly;

[0063] Fig.12 is a schematic diagram of the three-dimensional structure of the clamping claw;

[0064] Fig.13 It is a three-dimensional structural schematic diagram of the ball head;

[0065] Fig.14 It is a schematic diagram of the three-dimensional structure of the ball and socket;

[0066] Fig.15 It is a three-dimensional structural schematic diagram of the combination of the positioning piece and the positioning cylinder.

[0067] In the figure:

[0068] 1. Radial laser sensor; 2. Axial laser sensor;

[0069] 3. Follower assembly; 31. Pressing wheel assembly; 311. Pressing wheel; 3111. Pressing wheel groove; 312. Pressing wheel bracket; 313. Axial guide rail; 314. First irradiation area; 315. Second irradiation area; A. Pressing wheel groove angle; 32. Slider assembly; 321. Axial slider; 322. Slider connecting plate; 323. Radial slider; 324. Guide rod perforation; 33. Radial guide rail; 34. Compression spring; 35. Compression cylinder; 36. Spring guide rod; 37. Boss;

[0070] 4. Driving assembly; 41. Clamping claw; 411. Clamping positioning plane; 412. Clamping surface; 42. Pneumatic three-claw; 43. Servo motor;

[0071] 5. Handling and clamping assembly; 51. Clamping claw; 511. Clamping positioning plane; 512. Clamping pin; 52. Pneumatic four-claw; 53. Ball head; 531. Hemispherical head; 532. Ball head positioning plane; 533. Ball tail positioning groove; 534. Connecting rod; 535. Ball head connecting plate; 536. Pen clip; 54. Ball socket; 541. Ball shell; 542. Inner spherical surface; 543. Connecting rod hole; 544. Robot connecting plate; 55. Positioning piece; 551. Cylinder end positioning plane; 552. Cylinder end positioning wedge; 56. Positioning cylinder; 57. Soft-tip marker;

[0072] 6. Transport robot;

[0073] 7. Rack;

[0074] 8. Slicing circular knife; 81. Blade; 82. Center hole; 83. Fixing hole; 84. Notch; 85. Wave deformation; B. Blade angle. DETAILED DESCRIPTION

[0075] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0076] Example 1, please refer to Figure 1-Figure 15 , an automatic detection device for agricultural and sideline products slicing circular knife, comprising an axial laser sensor 2, a follower component 3 and a driving component 4; the driving component 4 comprises three clamping claws 41, a pneumatic three-claw 42 and a servo motor 43; the housing of the servo motor 43 is fixedly connected to the frame 7; the pneumatic three-claw 42 comprises a pneumatic three-claw cylinder body and three pneumatic three-claw claw bodies; the pneumatic three-claw cylinder body is fixedly connected to the output shaft of the servo motor 43, and the three clamping claws 41 are respectively fixedly connected to the three pneumatic three-claw claw bodies; the axis center line of the pneumatic three-claw 42 coincides with the axis center line of the output shaft of the servo motor 43; the three pneumatic three-claw claw bodies of the pneumatic three-claw 42 face forward, and the servo motor 43 is behind the pneumatic three-claw 42; the clamping claws The claw 41 is provided with a forward tightening and positioning plane 411 and a tightening plane 412 facing away from the axis of the output shaft of the servo motor 43; the three tightening claws 41 are evenly distributed in a circular array around the axis of the output shaft of the servo motor 43; the center hole 82 of the slicing circular knife 8 surrounds the periphery of the three tightening surfaces 412, and the plane of the slicing circular knife 8 facing backward is simultaneously pressed against the three tightening and positioning planes 411 of the three tightening claws 41, and the pneumatic three-claw 42 drives the three tightening claws 41 to synchronously translate away from the axis of the pneumatic three-claw 42, and the three tightening surfaces 412 simultaneously tighten three different directions of the center hole 82, so that the slicing circular knife 8 and the three tightening claws 41 are fixedly connected as a whole, thereby achieving the purpose of accurately positioning the slicing circular knife 8;

[0077] like Figure 3As shown, the follower assembly 3 includes a pressure wheel assembly 31 and a slider assembly 32; the pressure wheel assembly 31 includes a pressure wheel 311, a pressure wheel bracket 312 and an axial guide rail 313; the pressure wheel 311 and the pressure wheel bracket 312 are connected by a rotating pair, and the axial guide rail 313 and the pressure wheel bracket 312 are fixedly connected; the length direction of the axial guide rail 313 is arranged along the front-to-back direction, that is, the axial direction of the slicing circular knife 8; the slider assembly 32 includes an axial slider 321; the axial slider 321 and the axial guide The rail 313 forms a linear guide pair, and the pressure wheel assembly 31 translates along the front-rear direction; a pressure wheel groove 3111 is arranged on the rim of the pressure wheel 311, and two groove edges of the pressure wheel groove 3111 form a pressure wheel groove angle A, and two side surfaces of the slicing circular knife 8 form a blade angle B, and the pressure wheel groove angle A is greater than the blade angle B. The blade 81 is embedded in the pressure wheel groove 3111 and presses the inner ridge line of the groove bottom of the pressure wheel groove 3111, and the two side surfaces of the blade 81 and the two groove edges of the pressure wheel groove 3111 are not close to each other, and a wedge-shaped gap is left;

[0078] The axial laser sensor 2 is fixedly connected to the frame 7, and the axial laser sensor 2 is located directly in front of the pressure wheel bracket 312. The pressure wheel bracket 312 has a first irradiation area 314 corresponding to the rear of the axial laser sensor 2. The axial laser sensor 2 detects the displacement change of the first irradiation area 314 in the front-to-back direction.

[0079] The blade 81 is always close to the inner corrugation line of the groove bottom of the pressure wheel groove 3111. If there is an axial deviation on the blade 81, that is, the annular blade 81 is not on the same plane, but has a wave deformation 85 in the front and rear directions, such as Figure 2 As shown, the wave deformation 85 will drive the pressure wheel 311 to translate in the front-to-back direction, and the axial laser sensor 2 detects the axial displacement of the first irradiation area 314 in the front-to-back direction. The detection data and the deviation amount of each point on the wave deformation 85 correspond one to one.

[0080] The follower assembly 3 also includes a radial guide rail 33, and the slider assembly 32 also includes a slider connecting plate 322 and a radial slider 323. The axial slider 321, the slider connecting plate 322 and the radial slider 323 are fixedly connected to form a whole; the radial guide rail 33 is arranged along the left and right direction, that is, the radial direction of the slicing circular knife 8, and the radial guide rail 33 is fixedly connected to the frame 7. The radial guide rail 33 and the radial slider 323 form a linear guide pair, and the slider assembly 32 translates along the left and right direction.

[0081] The follower assembly 3 also includes a clamping spring 34; the right end of the clamping spring 34 presses the left end surface of the slider connecting plate 322, so that the pressure wheel assembly 31 and the slider assembly 32 tend to translate to the left, ensuring that the blade 81 is always close to the inner ridge line of the bottom of the pressure wheel groove 3111; if the blade 81 deviates from the inner ridge line of the bottom of the groove and deviates to one side of the groove edge, it will be in an unstable state under the action of the elastic force of the clamping spring 34, and will immediately slide to the inner ridge line of the bottom of the groove and become stable.

[0082] The follower assembly 3 also includes a clamping cylinder 35 and a spring guide rod 36; the left end of the clamping cylinder 35 is fixedly connected to the frame 7; the left end of the spring guide rod 36 is fixedly connected to the right end of the clamping cylinder 35, and a guide rod through hole 324 is provided on the slider connecting plate 322, and the right end of the spring guide rod 36 passes through the guide rod through hole 324, and a protrusion 37 is provided at the right end of the spring guide rod 36, and the diameter of the protrusion 37 is larger than the diameter of the guide rod through hole 324; the clamping spring 34 is sleeved on the periphery of the spring guide rod 36, and the left end of the clamping spring 34 presses the right end of the clamping cylinder 35;

[0083] During testing, the clamping cylinder 35 is fully extended, driving the clamping spring 34 to clamp the slider connecting plate 322. At this time, the protrusion 37 leaves the slider connecting plate 322, and the blade 81 is close to the inner ridge line of the bottom of the pressure wheel groove 3111; when installing and disassembling the slicing circular knife 8, the clamping cylinder 35 is fully retracted, and under the elastic force of the clamping spring 34, the protrusion 37 presses the slider connecting plate 322, and the pressure wheel groove 3111 is away from the slicing circular knife 8.

[0084] This embodiment also includes a radial laser sensor 1; the radial laser sensor 1 is fixedly connected to the frame 7; the radial laser sensor 1 is located directly to the left of the pressure wheel bracket 312; a second irradiation area 315 facing left is set on the pressure wheel bracket 312, and the radial laser sensor 1 detects the displacement change of the second irradiation area 315 in the left and right directions.

[0085] When the notch 84 rotates to the position in contact with the pressure wheel groove 3111, the bottom of the pressure wheel groove 3111 contacts the notch 84 under the elastic force of the clamping spring 34, rolls along the contour of the notch 84 and produces radial displacement accordingly. The pressure wheel assembly 31 and the slider assembly 32 move synchronously, and the radial laser sensor 1 detects the radial displacement of the second irradiation area 315 in the left and right directions. The detection data and the deviation of each point on the notch 84 relative to the normal blade ring correspond one to one.

[0086] like Figure 1 , Figures 10 to 15As shown, this embodiment also includes a handling clamping assembly 5, which includes four clamping claws 51 and a pneumatic four-claw 52. The pneumatic four-claw 52 includes a pneumatic four-claw cylinder and four pneumatic four-claw claw bodies. The four clamping claws 51 are respectively fixedly connected to the four pneumatic four-claw claw bodies; the four pneumatic four-claw claw bodies of the pneumatic four-claw 52 face backward; the clamping claws 51 are respectively provided with clamping positioning planes 511 located on the same plane, and the four clamping positioning planes 511 are respectively provided with clamping pins 512, and the four The clamping pins 512 are arranged in a uniform circular array around the axis of the pneumatic four-claw 52. The four clamping pins 512 are respectively inserted into the four fixing holes 83 of the slicing circular knife 8. The front plane of the slicing circular knife 8 is close to the clamping positioning plane 511. The pneumatic four-claw 52 drives the four clamping pins 512 to synchronously move away from the axis of the pneumatic four-claw 52, ​​and clamp the four fixing holes 83 in four directions respectively, and fix the slicing circular knife 8 by friction. Finally, the slicing circular knife 8 is accurately positioned, and the axis of the slicing circular knife 8 coincides with the axis of the pneumatic four-claw 52.

[0087] The handling and clamping assembly 5 also includes a ball head 53, a ball socket 54, a positioning member 55 and a positioning cylinder 56; the ball head 53 includes a hemispherical head 531, a connecting rod 534 and a ball head connecting plate 535; the size of the hemispherical head 531 is larger than the hemisphere, and the front end of the hemispherical head 531 is provided with a ball head positioning plane 532 perpendicular to the front and rear directions, the front end of the connecting rod 534 is fixedly connected to the rear end of the hemispherical head 531, the rear end of the connecting rod 534 is fixedly connected to the ball head connecting plate 535, the ball head connecting plate 535 is fixedly connected to the rear end of the pneumatic four claws 52, and the ball center position of the hemispherical head 531 is fixedly connected to the rear end of the pneumatic four claws 52. On the axis line of the pneumatic four claws 52; the ball head positioning plane 532 is provided with a ball tail positioning groove 533; the ball socket 54 includes a ball shell 541 and a robot connecting plate 544, the ball shell 541 is behind the robot connecting plate 544, the ball shell 541 has an inner spherical surface 542, the ball shell 541 has a larger opening in front and a smaller opening in the back, i.e., a connecting rod hole 543, the hemispherical head 531 and the inner spherical surface 542 form a spherical pair, the hemispherical head 531 and the inner spherical surface 542 are mutually embedded and can only rotate but not be separated, and the connecting rod 534 passes through the connecting rod hole 543; The front end of the positioning cylinder 56 is fixedly connected to the rear of the robot connecting plate 544, and the rear end of the positioning cylinder 56 is fixedly connected to the positioning member 55. The positioning member 55 is provided with a cylinder end positioning plane 551 facing backwards, and a cylinder end positioning wedge 552 is provided on the cylinder end positioning plane 551. The cylinder end positioning wedge 552 is a wedge-shaped wedge with a larger root size and a smaller tip size. The shape of the cylinder end positioning wedge 552 is consistent with the shape of the ball tail positioning groove 533. The positioning cylinder 56 is a cylinder with a guide rod. When the positioning cylinder 56 is extended, the cylinder end positioning plane 551 drives the ball head positioning plane 532 to rotate, and finally the two The two are fitted together, the cylinder end positioning wedge 552 is embedded in the ball tail positioning groove 533, and the hemispherical head 531 rotates in the inner spherical surface 542. The final result is that the ball head part 53, the ball socket part 54, the positioning part 55 and the positioning cylinder 56, and the pneumatic four claws 52 become a whole that is fixed to each other, accurately positioned to each other, and relatively immovable; when the positioning cylinder 56 contracts, generally the contraction stroke does not need to be too large, two or three millimeters is large enough, then the cylinder end positioning plane 551 leaves the ball head positioning plane 532, the cylinder end positioning wedge 552 leaves the ball tail positioning groove 533, and the hemispherical head 531 rotates freely in the inner spherical surface 542.

[0088] This embodiment also includes a handling robot 6, the end of the mechanical arm of the handling robot 6 is fixedly connected to the front of the robot connecting plate 544. The handling robot 6 is flexible in movement and can drive the handling clamping assembly 5 to other turnover equipment to clamp the slicing circular knife 8 to be measured.

[0089] This embodiment also includes a PLC programmable logic controller. The axial laser sensor 2, radial laser sensor 1, pneumatic three-claw 42, servo motor 43, clamping cylinder 35, pneumatic four-claw 52, ​​positioning cylinder 56 and handling robot 6 are electrically connected to the PLC programmable logic controller respectively. The PLC programmable logic controller coordinates and drives each actuator to move, collects data and saves it.

[0090] like Fig.10 As shown, the transport and clamping assembly 5 also includes a soft-tipped marker 57. A pen clip 536 is also provided on the ball head member 53. The soft-tipped marker 57 is fixedly clamped on the pen clip 536. The tip of the soft-tipped marker 57 faces backward. The soft-tipped marker 57 is fixed at the left side of the pneumatic four-claw 52. When the transport and clamping assembly 5 clamps the slicing circular knife 8, a point is drawn on the left side of the center hole 82 of the slicing circular knife 8. The line connecting the center of the slicing circular knife 8 and the point is used as a reference line for the angle. After the data is collected, the angle corresponding to the collected data can be quickly found through the reference line.

[0091] The pneumatic three-claw 42 and the pneumatic four-claw 52 refer to the MHS3-40 pneumatic three-claw and the MHS4-40 pneumatic four-claw respectively produced by SMC (China) Co., Ltd. The MHS3-40 pneumatic three-claw comprises a pneumatic three-claw cylinder and three pneumatic three-claw claw bodies, and the three pneumatic three-claw claw bodies can be synchronously translated toward or away from the axis of the pneumatic three-claw. The MHS4-40 pneumatic four-claw comprises a pneumatic four-claw cylinder and four pneumatic four-claw claw bodies, and the four pneumatic four-claw claw bodies can be synchronously translated toward or away from the axis of the pneumatic four-claw.

[0092] The directions of front, back, left and right described in this embodiment are defined as follows: assuming that a person stands at attention facing forward, his front, back, left and right respectively correspond to the front, back, left and right directions in this embodiment.

[0093] The working process of this embodiment is as follows.

[0094] 1. The handling robot 6 drives the handling clamping assembly 5 to the nearby turnover device to clamp the slicing circular knife 8 to be measured. The soft-tipped marker 57 draws a point on the slicing circular knife 8, and the line connecting the center of the slicing circular knife 8 and the point is used as the reference line of the angle.

[0095] 2. The handling robot 6 drives the slicing circular knife 8 to move toward the pneumatic three-claw 42, so that the slicing circular knife 8 is located in front of the pneumatic three-claw 42, and the axis lines of the two coincide. At this time, the point drawn by the soft-tip marker 57 on the slicing circular knife 8 is located on the left side of the center hole 82.

[0096] 3. The handling robot 6 drives the slicing circular knife 8 to continue to translate backward, so that the central hole 82 of the slicing circular knife 8 surrounds the three tightening surfaces 412, and the rearward plane of the slicing circular knife 8 is close to the three tightening positioning planes 411 at the same time; however, because there will always be errors between the joints of the handling robot 6, the slicing circular knife 8 has a thickness error. In short, it is difficult to ensure that the rearward plane of the slicing circular knife 8 is close to the three tightening positioning planes 411 at the same time. There may be some individual ones that are not close, there may be a little gap, and there is a positioning error; a very small gap error will cause the blade 81 to deviate from the ideal position, which may be mistaken for a wave deformation of the blade 81, resulting in errors in data detection. To prevent this from happening, the positioning cylinder 56 contracts, the cylinder end positioning plane 551 leaves the ball head positioning plane 532 by one to two millimeters, the cylinder end positioning wedge 552 leaves the ball tail positioning groove 533, and the hemispherical head 531 rotates freely in a small range within the inner spherical surface 542. The handling robot 6 drives the slicing circular knife 8 to continue to translate backward. It is only in a stable state when the backward plane of the slicing circular knife 8 is simultaneously close to the three tightening positioning planes 411. At this time, the pneumatic three-claw 42 drives the three tightening claws 41 to translate synchronously away from the axis of the pneumatic three-claw 42. The three tightening surfaces 412 simultaneously tighten three different directions of the center hole 82, so that the slicing circular knife 8 and the three tightening claws 41 are fixedly connected to form a relatively immovable whole. The axis of the slicing circular knife 8 and the pneumatic three-claw 42 coincide, so that the slicing circular knife 8 is accurately positioned.

[0097] 4. The pneumatic four-claw 52 drives the four clamping pins 512 to synchronously translate away from the axis of the pneumatic four-claw 52 to release the clamping of the four fixing holes 83.

[0098] 5. The transport robot 6 drives the transport clamping assembly 5 to leave the space in front of the slicing circular knife 8.

[0099] 6. The positioning cylinder 56 extends, and the cylinder end positioning plane 551 drives the ball head positioning plane 532 to rotate, and finally the two fit together. The cylinder end positioning wedge 552 is embedded in the ball tail positioning groove 533. At the same time, the hemispherical head 531 rotates in the inner spherical surface 542. The ball head component 53, the ball socket component 54, the positioning component 55 and the positioning cylinder 56, and the pneumatic four claws 52 become a whole that is fixed to each other, accurately positioned to each other, and relatively immovable.

[0100] 7. The clamping cylinder 35 is fully extended, driving the clamping spring 34 to clamp the slider connecting plate 322, pushing the slider assembly 32 and the pressure wheel assembly 31 to move horizontally to the right, and the blade 81 enters the pressure wheel groove 3111, and then the blade 81 is close to the inner ridge line of the bottom of the pressure wheel groove 3111 to become a stable state.

[0101] 8. The axial laser sensor 2 and the radial laser sensor 1 collect data, and the servo motor 43 drives the slicing circular knife 8 to rotate slowly and uniformly, while saving the collected data. The rotation angle of the servo motor 43, the axial displacement collected by the axial laser sensor 2, and the radial displacement collected by the radial laser sensor 1 are recorded and saved one by one.

[0102] 9. When the rotation angle of the servo motor 43 reaches 360 degrees, all points on the blade 81 corresponding to all angles of the circumference are detected, the servo motor 43 stops rotating, and the axial laser sensor 2 and the radial laser sensor 1 stop collecting data.

[0103] 10. The pressing cylinder 35 is fully retracted, and under the elastic force of the pressing spring 34 , the boss 37 presses the slider connecting plate 322 , and the pressing wheel groove 3111 is away from the slicing circular knife 8 .

[0104] 11. The transport robot 6 drives the transport clamping assembly 5 to move, so that the axis line of the pneumatic four-claw 52 coincides with the axis line of the pneumatic three-claw 42, and the four clamping pins 512 are respectively inserted into the four fixing holes 83, and the pneumatic four-claw 52 drives the four clamping pins 512 to synchronously translate toward the axis line of the pneumatic four-claw 52 until the four fixing holes 83 are clamped.

[0105] 12. The pneumatic three-jaw 42 drives the three clamping jaws 41 to move synchronously toward the axis of the pneumatic three-jaw 42 , and the three clamping surfaces 412 simultaneously leave the contact surface with the wall of the center hole 82 , releasing the clamping of the slicing circular knife 8 .

[0106] 13. The transport robot 6 drives the slicing circular knife 8 to move away from the clamping claw 41 and transport it to the turnover equipment next to it, and one detection cycle is completed.

[0107] 14. Analyze and calculate the collected data, and draw a conclusion on whether the slicing circular knife 8 is qualified or unqualified.

[0108] Embodiment 2, a method for using an automatic detection device for circular knives for slicing agricultural and sideline products, comprising the following steps:

[0109] ST1. The handling robot 6 drives the slicing circular knife 8 to move toward the pneumatic three-claw 42, so that the slicing circular knife 8 is located in front of the pneumatic three-claw 42, so that the center hole 82 of the slicing circular knife 8 surrounds the periphery of the three tightening surfaces 412, and the slicing circular knife 8 faces the rear plane at the same time close to the three tightening positioning planes 411;

[0110] ST2. Positioning cylinder 56 retracts;

[0111] ST3. The pneumatic three-claw 42 drives the three clamping claws 41 to move synchronously back to the axis of the pneumatic three-claw 42;

[0112] ST4. The pneumatic four-claw 52 drives the four clamping pins 512 to move synchronously back to the axis of the pneumatic four-claw 52;

[0113] ST5. The handling robot 6 drives the handling clamping assembly 5 to leave;

[0114] ST6 positioning cylinder 56 extension;

[0115] ST7. The compression cylinder 35 is stretched;

[0116] ST8. The axial laser sensor 2 and the radial laser sensor 1 collect data, and the servo motor 43 drives the slicing circular knife 8 to rotate slowly and uniformly, while saving the collected data; the rotation angle of the servo motor 43, the axial displacement collected by the axial laser sensor 2 and the radial displacement collected by the radial laser sensor 1 are recorded and saved one by one;

[0117] ST9. When the rotation angle of the servo motor 43 reaches 360 degrees, the servo motor 43 stops rotating, and the axial laser sensor 2 and the radial laser sensor 1 stop collecting data;

[0118] ST10. The compression cylinder 35 is fully retracted;

[0119] ST11. The handling robot 6 drives the handling clamping assembly 5 to move, so that the four clamping pins 512 are inserted into the four fixing holes 83, and the pneumatic four-claw 52 drives the four clamping pins 512 to translate synchronously toward the axis of the pneumatic four-claw 52;

[0120] ST12. The pneumatic three-claw 42 drives the three clamping claws 41 to translate synchronously toward the axis of the pneumatic three-claw 42;

[0121] ST13. The transport robot 6 drives the slicing circular knife 8 to move away from the clamping claw 41.

[0122] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the scope of the present invention. Thus, if these modifications and variations of the present invention belong to the scope of the present invention and its equivalent technology, the present invention is also intended to include these changes and variations.

Claims

1. An automatic detection device for agricultural and sideline products slicing circular knife, comprising an axial laser sensor (2), a follower component (3) and a drive component (4); characterized in that: The driving assembly (4) comprises three clamping claws (41), a pneumatic three-claw claw (42) and a servo motor (43); the housing of the servo motor (43) is fixedly connected to the frame (7); the pneumatic three-claw claw (42) comprises a pneumatic three-claw cylinder and three pneumatic three-claw claw bodies; the pneumatic three-claw cylinder is fixedly connected to the output shaft of the servo motor (43), and the three clamping claws (41) are respectively fixedly connected to the three pneumatic three-claw claw bodies; the three pneumatic three-claw claw bodies of the pneumatic three-claw claw (42) face forward; the clamping claw (41) is provided with a clamping positioning plane (411) facing forward and a clamping surface (412) facing away from the axis of the output shaft of the servo motor (43); The follower assembly (3) comprises a pressure wheel assembly (31) and a slider assembly (32); the pressure wheel assembly (31) comprises a pressure wheel (311), a pressure wheel bracket (312) and an axial guide rail (313); the pressure wheel (311) and the pressure wheel bracket (312) are connected via a rotating pair, and the axial guide rail (313) and the pressure wheel bracket (312) are fixedly connected; the length direction of the axial guide rail (313) is arranged along the front-back direction; the slider assembly (32) comprises an axial slider (321); the axial slider (321) and the axial guide rail (313) form a linear guide pair; a pressure wheel groove (3111) is arranged on the wheel rim of the pressure wheel (311), and the blade (81) is embedded in the pressure wheel groove (3111) and presses the inner ridge line of the groove bottom of the pressure wheel groove (3111); The axial laser sensor (2) and the frame (7) are fixedly connected, and the axial laser sensor (2) is located directly in front of the pressure wheel bracket (312).

2. The automatic detection device for circular knife for slicing agricultural and sideline products as claimed in claim 1, characterized in that: The follower assembly (3) further includes a radial guide rail (33), and the slider assembly (32) further includes a slider connecting plate (322) and a radial slider (323). The axial slider (321), the slider connecting plate (322) and the radial slider (323) are fixedly connected to form a whole; the radial guide rail (33) is arranged along the left-right direction, the radial guide rail (33) and the frame (7) are fixedly connected, the radial guide rail (33) and the radial slider (323) form a linear guide pair, and the slider assembly (32) translates along the left-right direction.

3. The automatic detection device for circular knife for slicing agricultural and sideline products as claimed in claim 2, characterized in that: The follower assembly (3) also includes a compression spring (34); the right end of the compression spring (34) presses the left end surface of the slider connecting plate (322).

4. The automatic detection device for circular knives for slicing agricultural and sideline products as claimed in claim 3, characterized in that: The follower assembly (3) also includes a clamping cylinder (35) and a spring guide rod (36); the left end of the clamping cylinder (35) is fixedly connected to the frame (7); the left end of the spring guide rod (36) is fixedly connected to the right end of the clamping cylinder (35); a guide rod through hole (324) is provided on the slider connecting plate (322); the right end of the spring guide rod (36) passes through the guide rod through hole (324); a protrusion (37) is provided at the right end of the spring guide rod (36); the diameter of the protrusion (37) is larger than the diameter of the guide rod through hole (324); the clamping spring (34) is sleeved on the outer periphery of the spring guide rod (36); the left end of the clamping spring (34) presses the right end of the clamping cylinder (35).

5. The automatic detection device for circular knife for slicing agricultural and sideline products as claimed in claim 4, characterized in that: It also comprises a radial laser sensor (1); the radial laser sensor (1) is fixedly connected to the frame (7); the radial laser sensor (1) is located directly to the left of the pressure wheel bracket (312).

6. The automatic detection device for circular knives for slicing agricultural and sideline products as claimed in claim 5, characterized in that: The invention also comprises a transport clamping assembly (5), wherein the transport clamping assembly (5) comprises four clamping claws (51) and a pneumatic four-claw (52), wherein the pneumatic four-claw (52) comprises a pneumatic four-claw cylinder and four pneumatic four-claw claw bodies, wherein the four clamping claws (51) are respectively fixedly connected to the four pneumatic four-claw claw bodies; the four pneumatic four-claw claw bodies of the pneumatic four-claw (52) face backwards; the clamping claws (51) are respectively provided with clamping positioning planes (511) located on the same plane, and clamping pins (512) are respectively provided on the four clamping positioning planes (511); the four clamping pins (512) are evenly arranged in a circular array around the axis of the pneumatic four-claw (52).

7. The automatic detection device for circular knives for slicing agricultural and sideline products as claimed in claim 6, characterized in that: The handling and clamping assembly (5) further comprises a ball head component (53), a ball socket component (54), a positioning component (55) and a positioning cylinder (56); the ball head component (53) comprises a hemispherical head (531), a connecting rod (534) and a ball head connecting plate (535); the size of the hemispherical head (531) is larger than that of a hemisphere, a ball head positioning plane (532) perpendicular to the front-back direction is arranged at the front end of the hemispherical head (531), the front end of the connecting rod (534) and the rear end of the hemispherical head (531) are fixedly connected, the rear end of the connecting rod (534) and the ball head connecting plate (535) are fixedly connected, the ball head connecting plate (535) and the rear end of the pneumatic four claws (52) are fixedly connected, and the ball center of the hemispherical head (531) is located on the axis line of the pneumatic four claws (52); The ball head positioning plane (532) is provided with a ball tail positioning groove (533); the ball socket (54) comprises a ball shell (541) and a robot connecting plate (544); the ball shell (541) is located behind the robot connecting plate (544); an inner spherical surface (542) is provided in the ball shell (541); the hemispherical head (531) and the inner spherical surface (542) form a spherical surface pair; the front end of the positioning cylinder (56) is fixedly connected to the back of the robot connecting plate (544); the rear end of the positioning cylinder (56) is fixedly connected to the positioning member (55); the positioning member (55) is provided with a rearward cylinder end positioning plane (551); the cylinder end positioning plane (551) is provided with a cylinder end positioning wedge (552); the positioning cylinder (56) is a guide rod type cylinder.

8. The automatic detection device for circular knife for slicing agricultural and sideline products as claimed in claim 7, characterized in that: It also includes a transport robot (6), the end of the robot arm of the transport robot (6) is fixedly connected to the front of the robot connecting plate (544).

9. The automatic detection device for circular knife for slicing agricultural and sideline products as claimed in claim 8, characterized in that: It also includes a PLC programmable logic controller, and the axial laser sensor (2), the radial laser sensor (1), the pneumatic three-claw (42), the servo motor (43), the clamping cylinder (35), the pneumatic four-claw (52), the positioning cylinder (56) and the handling robot (6) are respectively electrically connected to the PLC programmable logic controller.

10. A method for using the automatic detection device for circular knife for slicing agricultural and sideline products as claimed in claim 9, characterized in that: The following steps are involved: ST1. The handling robot (6) drives the slicing circular knife (8) toward the pneumatic three-claw (42) to move so that the center hole (82) of the slicing circular knife (8) surrounds the periphery of the three tightening surfaces (412), and the slicing circular knife (8) faces the rear plane while being close to the three tightening positioning planes (411); ST2 positioning cylinder (56) contraction; ST3 pneumatic three-claw (42) drives three clamping claws (41) to move synchronously back to the axis of the pneumatic three-claw (42); ST4 pneumatic four-claw (52) drives four clamping pins (512) to translate synchronously back to the axis of the pneumatic four-claw (52); ST5 handling robot (6) drives the handling clamping assembly (5) to leave; ST6 positioning cylinder (56) extension; ST7. The compression cylinder (35) is stretched; ST8 axial laser sensor (2) and radial laser sensor (1) to collect data, the servo motor (43) drives the slicing circular knife (8) to rotate at a constant speed; ST9. When the rotation angle of the servo motor (43) reaches 360 degrees, the servo motor (43) stops rotating, and the axial laser sensor (2) and the radial laser sensor (1) stop collecting data; ST10. The pressing cylinder (35) contracts.

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