Reciprocating type servo wire feeding device

Abstract

The reciprocating type servo wire feeding device comprises a wire feeding support, a swing supporting plate is arranged on the wire feeding support, and a swing assembly is arranged on the swing supporting plate; top supporting rods are arranged at the two ends of the side, away from the wire feeding lifting support, of the lifting connecting plate, bottom supporting rods are arranged at the bottoms of the two ends of the side, away from the swing supporting plate, of the wire feeding lifting support, a plurality of upper fixing strips are evenly arranged on the top supporting rods, a plurality of lower fixing strips are evenly arranged on the bottom supporting rods, and wire fixing pipes vertically penetrate through the upper fixing strips. A silk thread is fixed in the silk fixing pipe, a silk penetrating pipe vertically penetrates through the lower fixing strip, and an electric shaver head is arranged below the silk penetrating pipe. The swing motor drives the first swing loop bar to move eccentrically and drives the wire feeding lifting support to swing horizontally in a reciprocating mode. The wire feeding driving motor drives the lifting lead screw to rotate and drives the lifting connecting plate to ascend and descend, and then the wires in the wire fixing pipe are driven to ascend and descend in the wire penetrating pipe. The wire feeding precision is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wire feeding devices, and in particular to a reciprocating servo wire feeding device. Background Art

[0002] After the electric shaver head is assembled, it needs to be subjected to an aging test using silk thread. The driven rotating electric shaver head continuously cuts the silk thread to simulate the real shaving process in order to test the actual service life of the electric shaver head.

[0003] The traditional aging test of electric shaver heads uses manual wire feeding, which is not only inefficient but also has high labor costs and is time-consuming and labor-intensive. Currently, in the prior art, a lifting wire feeding mechanism is used to lift and lower the electric shaver head for wire feeding. This wire feeding mechanism effectively reduces labor costs and, to a certain extent, improves the wire feeding efficiency of the electric shaver head. However, the wire feeding mechanism in the prior art can only achieve wire feeding on the vertical plane for the electric shaver head. The position is too single, resulting in poor wire feeding effect on the electric shaver head. Manual cooperation is required to adjust the wire feeding stroke of the electric shaver head on the horizontal plane. Due to human participation in this process, the wire feeding accuracy of the electric shaver head is reduced. Therefore, the wire feeding accuracy of the wire feeding mechanism in the prior art is insufficient. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the object of the present invention is to provide a reciprocating servo wire feeding device for significantly improving the wire feeding accuracy.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a reciprocating servo wire feeding device, comprising a wire feeding bracket, wherein the wire feeding bracket is provided with a swing support plate, and the swing support plate is provided with a horizontally placed swing assembly;

[0006] The swivel assembly includes a swivel motor, a driving wheel, a first swivel sleeve, a pressure rod, a second swivel sleeve, a first limiting guide rail and a first slider, the swivel motor is fixed to the swivel support plate, the driving wheel is fixedly sleeved on the output shaft of the swivel motor, two ends of the pressure rod are respectively threadedly connected to the first swivel sleeve and the second swivel sleeve, an end of the first swivel sleeve away from the pressure rod is rotatably connected to the eccentric end of the driving wheel, and an end of the second swivel sleeve away from the pressure rod is rotatably connected to a wire feeding lifting bracket, the first limiting guide rail is horizontally fixedly connected to a side of the wire feeding lifting bracket facing the swivel support plate, the first slider is slidably connected to the first limiting guide rail, and the first slider is fixedly connected to the swivel support plate;

[0007] The wire feeding lifting bracket is provided with a wire feeding lifting assembly, and the wire feeding lifting assembly includes a wire feeding driving motor, a lifting screw rod, a lifting connecting plate, a second limiting guide rail and a second sliding block. The wire feeding driving motor is vertically fixed to the wire feeding lifting bracket, and a lifting shaft sleeve is fixedly embedded in the middle of the lifting connecting plate. The motor shaft of the wire feeding driving motor is coaxially fixedly connected to the lifting screw rod, and the lifting shaft sleeve is threadedly sleeved on the lifting screw rod. The second limiting guide rail is vertically fixed to a side of the wire feeding lifting bracket away from the swing support plate, and the second sliding block is vertically fixed in the lifting connecting plate, and the second sliding block is slidably connected to the second limiting guide rail;

[0008] The two ends of the lifting connecting plate away from the wire feeding lifting bracket are provided with top support rods, and the bottoms of the two ends of the wire feeding lifting bracket away from the swing support plate are provided with bottom support rods, and a plurality of upper fixing bars are evenly arranged on the top support rod, and a plurality of lower fixing bars are evenly arranged on the bottom support rod, and the upper fixing bars are located directly above the corresponding lower fixing bars, and a plurality of wire fixing tubes are vertically passed through the upper fixing bars, and wires are fixed in the wire fixing tubes, and a plurality of wire threading tubes are vertically passed through the lower fixing bars, and an electric shaver head is provided below the wire threading tubes;

[0009] The swing motor drives the first swing sleeve to move eccentrically, thereby driving the wire feeding lifting bracket to swing back and forth horizontally;

[0010] The wire feeding drive motor drives the lifting screw to rotate, drives the lifting connecting plate to move up and down, and further drives the wire in the wire fixing tube to move up and down in the wire threading tube, so as to reciprocate and contact the electric shaver head.

[0011] Furthermore, a guide head is threadedly connected below the wire threading tube, the guide head is hollow inside, and the bottom diameter of the guide head is smaller than the diameter of the wire threading tube. When the fixed tube is driven down to the bottom of the wire threading tube, the wire in the fixed tube extends to the bottom of the guide head.

[0012] Furthermore, a plurality of floating spring pins are provided on the upper fixing bar, and the floating spring pins pass through the upper fixing bar and extend into the wire fixing tube to position the wire in the wire fixing tube.

[0013] Furthermore, the wire feeding bracket is also provided with a bracket lifting assembly, and the bracket lifting assembly includes a lifting drive component, and the lifting drive component is fixed to the upper end of the wire feeding bracket. The driving output end of the lifting drive component is vertically downward and fixedly connected to the upper end of the swing support plate, and the lifting drive component is used to drive the swing support plate to move up and down in the vertical direction.

[0014] Furthermore, the bracket lifting assembly also includes a pair of third guide rails and a pair of third sliders. The pair of third guide rails are relatively arranged on one side of the wire feeding bracket close to the swing support plate, and the pair of third sliders are relatively fixed on the swing support plate. The third sliders are slidably connected to the third guide rails.

[0015] Furthermore, an upper buffer is provided at the upper end of the wire feeding bracket, and a lower buffer is provided at the lower end of the wire feeding bracket;

[0016] When the lifting drive component drives the swing support plate to move to the upper end of the wire feeding bracket, the upper end of the swing support plate abuts against the upper buffer. When the lifting drive component drives the swing support plate to move to the lower end of the wire feeding bracket, the lower end of the swing support plate abuts against the lower buffer.

[0017] Furthermore, the first limiting guide rail and the first sliding block are each provided in a pair, the first limiting guide rails are relatively arranged at the upper and lower ends of the swing support plate facing the wire feeding lifting bracket, and the first sliding blocks are relatively arranged at the upper and lower ends of the wire feeding lifting bracket;

[0018] A pair of the second limiting guide rails and the second slider are provided. The pair of the second limiting guide rails are relatively arranged at the left and right ends of the wire feeding lifting bracket facing the lifting connecting plate, and the pair of the second sliders are relatively arranged at the left and right ends of the lifting connecting plate.

[0019] Furthermore, it also includes an image acquisition device, an infrared acquisition device and an operation processing device, wherein the image acquisition device and the infrared acquisition device are electrically connected to the operation processing device, and the operation processing device is also electrically connected to the controller of the swing motor and the wire feeding drive motor;

[0020] The image acquisition device is used to capture motion video during the movement of the lower fixed bar and split the motion video into a plurality of motion image frames. The processing device performs image recognition on the lower fixed bar in the motion image frames to obtain an image-detected swing distance and an image-detected lifting distance.

[0021] The infrared acquisition device is used to measure the infrared detection swing distance and infrared detection lifting distance of the lower fixing bar using infrared light during the movement of the lower fixing bar;

[0022] The operation processing device obtains a comprehensive swing distance based on the image detection swing distance and the infrared detection swing distance, and obtains a comprehensive lifting distance based on the image detection lifting distance and the infrared detection lifting distance, and then subtracts the comprehensive swing distance from the preset standard swing distance to obtain a swing deviation distance, and subtracts the comprehensive lifting distance from the preset standard lifting distance to obtain a lifting deviation distance, and finally generates a drive adjustment instruction based on the swing deviation distance and the lifting deviation distance to dynamically adjust the driving status of the swing motor and the wire feeding drive motor.

[0023] Furthermore, it also includes an environment acquisition device for real-time acquisition of the ambient light radiation wavelength, ambient temperature, ambient light intensity and ambient humidity in the environment. The environment acquisition device is connected to the operation and processing device. The operation and processing device generates an infrared interference coefficient according to the ambient light radiation wavelength, the ambient temperature and the ambient humidity, and generates an image interference coefficient according to the ambient light intensity and the ambient humidity. Finally, the swing deviation distance and the lifting deviation distance are corrected according to the infrared interference coefficient and the image interference coefficient.

[0024] Furthermore, the calculation formula of the infrared interference coefficient is configured as:

[0025]

[0026] Among them, C IR is used to represent the infrared interference coefficient, λ1 and λ2 are used to represent the lower limit and upper limit of the ambient light radiation wavelength respectively, λ is used to represent the ambient light radiation wavelength, T is used to represent the ambient temperature, f(λ,T) is used to represent a function of the ambient light radiation wavelength and the ambient temperature, which function represents the infrared radiation intensity at different wavelengths and temperatures, H is used to represent the ambient humidity, g(H) is used to represent a function of the ambient humidity, which function represents the influence of the ambient humidity on infrared radiation, D swing Used to indicate the preset infrared initial swing distance, D lift Used to indicate the preset infrared initial lifting distance;

[0027] The calculation formula of the image interference coefficient is configured as:

[0028]

[0029] Among them, C image Used to represent the image interference coefficient, L i Used to represent the ambient light intensity, I(L i) is used to represent a function about the ambient light intensity, which represents the image acquisition quality under different light intensities, h(H) is used to represent a function about the ambient humidity, which represents the impact of different humidity on image acquisition, n is used to represent the number of the ambient light intensity levels configured in the formula, S swing Used to indicate the preset initial swing distance of the image, S lift Used to indicate the preset initial lifting distance of the image.

[0030] Beneficial effects of the present invention:

[0031] The present invention utilizes the cooperation between the swinging assembly and the wire feeding lifting assembly. The wire feeding drive motor drives the lifting screw to rotate, drives the lifting connecting plate to move up and down, and then drives the wire in the wire fixing tube to move up and down in the wire threading tube, so that the wire contacts the electric shaver head. At the same time, the swinging motor drives the first swinging sleeve to move eccentrically, drives the wire feeding lifting bracket to swing back and forth horizontally, and realizes the reciprocating contact of the wire with the electric shaver head in the horizontal direction. No human participation is required in this process. The lifting and swinging of the wire are controlled by the drive motor and the swinging motor throughout the whole process. Therefore, the fully automatic reciprocating wire feeding method significantly improves the wire feeding accuracy of the electric shaver. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a front structural schematic diagram of the reciprocating servo wire feeding device of the present invention;

[0033] Figure 2 It is a side structural diagram of the reciprocating servo wire feeding device of the present invention;

[0034] Figure 3 This is a control principle diagram of the reciprocating servo wire feeding device in the present invention.

[0035] 1. Wire feeding bracket; 2. Swing support plate; 3. Swing assembly; 31. Swing motor; 32. Drive wheel; 33. First swing sleeve; 34. Pressure rod; 35. Second swing sleeve; 36. First limit guide rail; 37. First slider; 4. Wire feeding lifting bracket; 5. Wire feeding lifting assembly; 51. Wire feeding drive motor; 52. Lifting screw rod; 53. Lifting connecting plate; 54. Second limit guide rail; 55. Second slider; 56. Lifting sleeve; 6. Top support rod; 7. Bottom support rod; 8. Upper fixing bar; 9. Lower fixing bar; 10. Wire fixing tube; 11. Wire threading tube; 12. Guide head; 13. Floating spring pin; 14. Lifting drive component; 15. Third guide rail; 16. Third slider; 17. Upper buffer; 18. Lower buffer; 19. Image acquisition device; 20. Infrared acquisition device; 21. Operation and processing device; 22. Environmental acquisition device. DETAILED DESCRIPTION

[0036] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom," "top," "inner," and "outer" refer to directions toward or away from the geometric center of a particular component, respectively.

[0037] Example 1, reference Figure 1 and Figure 2 , which is the first embodiment of the present invention, provides a reciprocating servo wire feeding device that can significantly improve wire feeding accuracy, including a wire feeding bracket 1, a swing support plate 2 provided on the wire feeding bracket 1, and a horizontally placed swing component 3 provided on the swing support plate 2;

[0038] The swing assembly 3 includes a swing motor 31, a driving wheel 32, a first swing sleeve rod 33, a pressure rod 34, a second swing sleeve rod 35, a first limiting guide rail 36 and a first slider 37. The swing motor 31 is fixed on the swing support plate 2, the driving wheel 32 is fixedly sleeved on the output shaft of the swing motor 31, and the two ends of the pressure rod 34 are respectively threadedly connected to the first swing sleeve rod 33 and the second swing sleeve rod 35. The end of the first swing sleeve rod 33 away from the pressure rod 34 is rotatably connected to the eccentric end of the driving wheel 32, and the end of the second swing sleeve rod 35 away from the pressure rod 34 is rotatably connected to a wire feeding lifting bracket 4. The first limiting guide rail 36 is horizontally fixedly connected to the side of the wire feeding lifting bracket 4 facing the swing support plate 2, the first slider 37 is slidably connected to the first limiting guide rail 36, and the first slider 37 is fixedly connected to the swing support plate 2;

[0039] A wire feeding lifting assembly 5 is provided on the wire feeding lifting bracket 4, and the wire feeding lifting assembly 5 includes a wire feeding drive motor 51, a lifting screw rod 52, a lifting connecting plate 53, a second limit guide rail 54 and a second slider 55. The wire feeding drive motor 51 is vertically fixed on the wire feeding lifting bracket 4, and a lifting shaft sleeve 56 is fixedly embedded in the middle part of the lifting connecting plate 53. The motor shaft of the wire feeding drive motor 51 is coaxially fixedly connected to the lifting screw rod 52, and the lifting shaft sleeve 56 is threadedly sleeved on the lifting screw rod 52. The second limit guide rail 54 is vertically fixed to the side of the wire feeding lifting bracket 4 away from the swing support plate 2. The second slider 55 is vertically fixed in the lifting connecting plate 53, and the second slider 55 is slidably connected to the second limit guide rail 54;

[0040] The lifting connecting plate 53 is provided with a top support rod 6 at both ends of the side away from the wire feeding lifting bracket 4, and the bottom of the two ends of the wire feeding lifting bracket 4 is provided with a bottom support rod 7 at both ends of the side away from the swing support plate 2. A plurality of upper fixing bars 8 are evenly arranged on the top support rod 6, and a plurality of lower fixing bars 9 are evenly arranged on the bottom support rod 7. The upper fixing bars 8 are located directly above the corresponding lower fixing bars 9. A plurality of fixed wire tubes 10 are vertically passed through the upper fixing bars 8, and a wire is fixed in the fixed wire tube 10. A plurality of wire threading tubes 11 are vertically passed through the lower fixing bar 9, and an electric shaver head is provided below the wire threading tube 11;

[0041] The motor shaft of the swing motor 31 rotates to drive the driving wheel 32, and the first swing sleeve 33 performs eccentric motion on the driving wheel 32. The second swing sleeve 35 transmits the horizontal swing force to the wire feeding lifting bracket 4, thereby driving the wire feeding lifting bracket 4 to swing back and forth horizontally.

[0042] The wire feeding drive motor 51 drives the lifting screw rod 52 to rotate, driving the lifting connecting plate 53 to move up and down, thereby driving the wire in the wire fixing tube 10 to move up and down in the wire threading tube 11 to reciprocate and contact the electric shaver head.

[0043] Working principle of embodiment 1:

[0044] The present embodiment utilizes the cooperation between the swing assembly 3 and the wire feeding lifting assembly 5, and the wire feeding drive motor 51 drives the lifting screw rod 52 to rotate, driving the lifting connecting plate 53 to move up and down, thereby driving the wire in the wire fixing tube 10 to move up and down in the wire threading tube 11, so that the wire contacts the electric shaver head. At the same time, the swing motor 31 drives the first swing sleeve 33 to move eccentrically, driving the wire feeding lifting bracket 4 to swing back and forth horizontally, so that the wire contacts the electric shaver head in the horizontal direction. No human intervention is required in this process. The lifting and swinging of the wire are controlled by the driving motor and the swing motor 31 throughout the whole process. During the lifting and swinging process, the accuracy can be improved to plus or minus 0.01 mm. Therefore, the fully automatic reciprocating wire feeding method significantly improves the wire feeding accuracy of the electric shaver.

[0045] In addition, in this embodiment, four mutually parallel upper fixing bars 8 are provided on the top support rod 6, and similarly, four mutually parallel lower fixing bars 9 are provided on the bottom support rod 7. Each upper fixing bar 8 is provided with ten mutually vertically parallel wire fixing tubes 10. Therefore, in this embodiment, 40 wires can be fed simultaneously, improving wire feeding efficiency.

[0046] Preferably, a guide head 12 is threadedly connected to the bottom of the wire threading tube 11. The guide head 12 is hollow inside, and the bottom diameter of the guide head 12 is smaller than the diameter of the wire threading tube 11. When the fixed tube is driven down to the bottom of the wire threading tube 11, the wire in the fixed tube extends to the bottom of the guide head 12.

[0047] Specifically, in this embodiment, the guide head 12 and the wire threading tube 11 cooperate with each other to guide the end of the wire.

[0048] Preferably, a plurality of floating spring pins 13 are further provided on the upper fixing bar 8 , and the floating spring pins 13 pass through the upper fixing bar 8 and extend into the wire fixing tube 10 to position the wires in the wire fixing tube 10 .

[0049] Specifically, in this embodiment, the floating spring pin 13 not only positions the wire but also facilitates the replacement and disassembly of the wire tube 10 , thereby enabling rapid replacement of the wire tube 10 .

[0050] Preferably, the wire feeding bracket 1 is also provided with a bracket lifting assembly, which includes a lifting drive component 14. The lifting drive component 14 is fixed to the upper end of the wire feeding bracket 1, and the driving output end of the lifting drive component 14 is vertically downward and fixedly connected to the upper end of the swing support plate 2. The lifting drive component 14 is used to drive the swing support plate 2 to move up and down in the vertical direction.

[0051] Specifically, in this embodiment, the lifting drive component 14 can be a cylinder. The lifting drive component 14 drives the swing support plate 2 to move up and down in the vertical direction to achieve the goal of lifting the swing assembly 3, wire feeding lifting assembly 5 and other components as a whole when wire processing is not required, and lowering the swing assembly 3, wire feeding lifting assembly 5 and other components as a whole when wire feeding is required to perform normal reciprocating wire feeding processing.

[0052] Preferably, the bracket lifting assembly also includes a pair of third guide rails 15 and a pair of third sliders 16. The pair of third guide rails 15 are relatively arranged on one side of the wire feeding bracket 1 close to the swing support plate 2, and the pair of third sliders 16 are relatively fixed on the swing support plate 2. The third sliders 16 are slidably connected to the third guide rails 15.

[0053] Specifically, in this embodiment, by providing the third guide rail 15 and the third slider 16, the lifting drive component 14 limits the movement direction during the lifting movement of the swing support plate 2, thereby improving the structural stability of the lifting movement process.

[0054] Preferably, an upper buffer 17 is provided at the upper end of the wire feeding support 1, and a lower buffer 18 is provided at the lower end of the wire feeding support 1;

[0055] When the lifting drive component 14 drives the swing support plate 2 to move to the upper end of the wire feeding bracket 1, the upper end of the swing support plate 2 abuts against the upper buffer 17. When the lifting drive component 14 drives the swing support plate 2 to move to the lower end of the wire feeding bracket 1, the lower end of the swing support plate 2 abuts against the lower buffer 18.

[0056] Specifically, in this embodiment, by providing an upper buffer 17 and a lower buffer 18, effective buffering of the movement process of the swing support plate 2 driven by the lifting drive component 14 is achieved, thereby preventing the swing support plate 2 from colliding with the wire feeding bracket 1 and causing collision damage, thereby improving the safety and durability of the lifting drive process.

[0057] Preferably, a pair of first limiting guide rails 36 and first sliders 37 are provided, and a pair of first limiting guide rails 36 are relatively arranged at the upper and lower ends of the swing support plate 2 facing the wire feeding lifting bracket 4, and a pair of first sliders 37 are relatively arranged at the upper and lower ends of the wire feeding lifting bracket 4;

[0058] A pair of second limiting guide rails 54 and second sliders 55 are provided. The pair of second limiting guide rails 54 are relatively arranged at the left and right ends of the wire feeding lifting bracket 4 facing the lifting connecting plate 53, and the pair of second sliders 55 are relatively arranged at the left and right ends of the lifting connecting plate 53.

[0059] Specifically, in this embodiment, by setting a pair of first limiting guide rails 36 and a pair of first sliders 37 to cooperate with each other, the structural stability of the horizontal reciprocating swing process of the wire feeding lifting bracket 4 driven by the swing motor 31 is improved; similarly, by setting a pair of second limiting guide rails 54 and a pair of second sliders 55 to cooperate in an arc shape, the structural stability of the lifting connecting plate 53 driven by the driving motor to move up and down is improved.

[0060] Example 2, reference Figure 3 , which is the second embodiment of the present invention. Unlike the previous embodiment, this embodiment provides an image acquisition device 19, an infrared acquisition device 20, and a processing device 21, which can dynamically adjust the driving states of the swing motor 31 and the wire feeding drive motor 51, further improving the wire feeding accuracy of the electric shaver. The second embodiment includes the image acquisition device 19, the infrared acquisition device 20, and the processing device 21. The image acquisition device 19 and the infrared acquisition device 20 are electrically connected to the processing device 21, and the processing device 21 is also electrically connected to the controllers of the swing motor 31 and the wire feeding drive motor 51.

[0061] The image acquisition device is used to capture motion video during the movement of the lower fixed bar 9 and split the motion video into a number of motion image frames. The processing device 21 performs image recognition on the lower fixed bar 9 in the motion image frames to obtain the image-detected swing distance and the image-detected lifting distance.

[0062] The infrared acquisition device 20 is used to measure the infrared detection swing distance and infrared detection lifting distance of the lower fixing bar 9 using infrared light during the movement of the lower fixing bar 9;

[0063] The operation processing device 21 obtains a comprehensive swing distance based on the image detection swing distance and the infrared detection swing distance, and obtains a comprehensive lifting distance based on the image detection lifting distance and the infrared detection lifting distance, and then subtracts the comprehensive swing distance from the preset standard swing distance to obtain a swing deviation distance, and subtracts the comprehensive lifting distance from the preset standard lifting distance to obtain a lifting deviation distance, and finally generates a drive adjustment instruction based on the swing deviation distance and the lifting deviation distance to dynamically adjust the driving status of the swing motor 31 and the wire feeding drive motor 51.

[0064] Working principle of embodiment 2:

[0065] Preferably, the image acquisition device can be a high-speed industrial camera, model KEYENCE VW-9000, which supports 4000fps high-speed shooting in 640*480 pixel VGA mode and can achieve a shooting speed of up to 230,000fps. The operation processing device 21 can be a computer, which is pre-configured with image recognition software. The image recognition software can process and obtain the image detection swing distance and the image detection lifting distance by comparing and identifying multiple motion image frames. The infrared acquisition device 20 can be a plurality of infrared ranging modules, which perform infrared ranging during the swing and lifting motion of the lower fixed bar 9 to obtain the infrared detection swing distance and the infrared detection lifting distance. Then the calculation program configured in the computer averages the image detection swing distance and the infrared detection swing distance to obtain the comprehensive swing distance, and averages the image detection lifting distance and the infrared detection lifting distance to obtain the comprehensive lifting distance. The calculation program then subtracts the comprehensive swing distance from the standard swing distance to obtain the swing deviation distance, and subtracts the comprehensive lifting distance from the standard lifting distance to obtain the lifting deviation distance. The swing deviation distance and the lifting deviation distance can reflect the difference between the horizontal swing and vertical lifting of the thin wire in the fixed wire tube 10 and the ideal state. Therefore, the instruction generation program configured in the computer generates a drive adjustment instruction based on the swing deviation distance and the lifting deviation distance, and sends the drive adjustment instruction to the controller of the swing motor 31 and the wire feeding drive motor 51, so that the controller dynamically adjusts the driving state of the swing motor 31 and the wire feeding drive motor 51, thereby realizing dynamic adjustment of the wire feeding process, thereby further improving the wire feeding accuracy of the electric shaver.

[0066] Example 3, reference Figure 3, which is the third embodiment of the present invention. Different from the previous embodiment, this embodiment provides an environment acquisition device 22, which can optimize and correct the swing deviation distance and the lifting deviation distance by collecting data in the environment, improve the accuracy of adjusting the driving state of the swing motor 31 and the wire feeding drive motor 51, and thus further improve the wire feeding accuracy of the electric shaver. Example 3 includes an environment acquisition device 22, which is used to collect the ambient light radiation wavelength, ambient temperature, ambient light intensity and ambient humidity in the environment in real time. The environment acquisition device 22 is connected to the operation processing device 21. The operation processing device 21 generates an infrared interference coefficient according to the ambient light radiation wavelength, ambient temperature and ambient humidity, and generates an image interference coefficient according to the ambient light intensity and ambient humidity. Finally, the swing deviation distance and the lifting deviation distance are corrected according to the infrared interference coefficient and the image interference coefficient.

[0067] Working principle of embodiment 3:

[0068] The environment acquisition device 22 includes a spectrum analyzer, a temperature sensor, a light intensity sensor and a humidity sensor, which respectively detect the ambient light radiation wavelength, ambient temperature, ambient light intensity and ambient humidity.

[0069] The reflection and diffuse reflection of light in a specific wavelength range is close to the operating wavelength range of the infrared temperature measuring instrument, which will interfere with the normal operation of the infrared detector. Therefore, it will interfere with the ranging process of the infrared ranging module and affect the detection accuracy of the infrared detection swing distance and the infrared detection lift distance. Changes in ambient temperature and humidity will cause changes in the stray radiation of the infrared system, affecting the measurement accuracy of the infrared ranging module. In order to improve the detection accuracy of the infrared detection swing distance and the infrared detection lift distance, it is necessary to filter out the interference of the ambient light radiation wavelength, ambient temperature and ambient humidity. Therefore, in this embodiment, the infrared interference coefficient is generated based on the ambient light radiation wavelength, ambient temperature and ambient humidity;

[0070] The intensity of ambient light directly affects the quality and clarity of the image, which in turn affects the acquisition quality of high-speed industrial cameras. Changes in humidity can cause water mist to appear in the air, making the air more turbid. At the same time, fogging of the high-speed industrial camera lens can affect the imaging effect. Therefore, the intensity of ambient light and humidity will affect the acquisition accuracy of high-speed industrial cameras. In order to improve the accuracy of image detection lift distance and infrared detection lift distance, it is necessary to filter out the influence of ambient light intensity and humidity. Therefore, in this embodiment, the image interference coefficient is generated based on the ambient light intensity and humidity.

[0071] The calculation program in the computer multiplies the infrared interference coefficient with the infrared detection swing distance and the infrared detection lifting distance respectively to obtain the infrared optimized swing distance and the infrared optimized lifting distance, and multiplies the image interference coefficient with the image detection swing distance and the image detection lifting distance respectively to obtain the image optimized swing distance and the image optimized lifting distance. The calculation program configured in the computer calculates the average value of the image optimized swing distance and the infrared optimized swing distance to obtain the optimized comprehensive swing distance, and calculates the average value of the image optimized lifting distance and the infrared optimized lifting distance to obtain the optimized comprehensive lifting distance. The calculation program then subtracts the optimized comprehensive swing distance from the standard swing distance to obtain the optimized swing deviation distance, and subtracts the optimized comprehensive lifting distance from the standard lifting distance to obtain the optimized lifting deviation distance. The instruction generation program generates an optimized drive adjustment instruction based on the optimized swing deviation distance and the lifting deviation distance, and sends the optimized drive adjustment instruction to the controller of the swing motor 31 and the wire feeding drive motor 51, so that the controller dynamically adjusts the driving state of the swing motor 31 and the wire feeding drive motor 51. In this process, due to the optimization of the drive adjustment instruction of the controller, the accuracy of the drive state adjustment of the swing motor 31 and the wire feeding drive motor 51 is improved, and the wire feeding accuracy of the electric shaver is further improved.

[0072] Preferably, the calculation formula of the infrared interference coefficient is configured as:

[0073]

[0074] Among them, C IR It is used to represent the infrared interference coefficient, λ1 and λ2 are used to represent the lower and upper limits of the ambient light radiation wavelength respectively, λ is used to represent the ambient light radiation wavelength, T is used to represent the ambient temperature, f(λ,T) is used to represent the function of the ambient light radiation wavelength and ambient temperature, which represents the infrared radiation intensity at different wavelengths and temperatures, H is used to represent the ambient humidity, g(H) is used to represent the function of the ambient humidity, which represents the effect of the ambient humidity on the infrared radiation, D swing Used to indicate the preset infrared initial swing distance, D lift Used to indicate the preset infrared initial lifting distance, the term in the denominator Used to correct the effect of distance change on interference coefficient of initial infrared detection;

[0075] The calculation formula of the image interference coefficient is configured as:

[0076]

[0077] Among them, C image Used to represent the image interference coefficient, L i Used to indicate the ambient light intensity, I(L i) is used to represent the function of ambient light intensity, which represents the image acquisition quality under different light intensities. h(H) is used to represent the function of ambient humidity, which represents the impact of different humidity on image acquisition. n is used to represent the number of ambient light intensity levels configured in the formula. S swing Used to indicate the preset initial swing distance of the image, S lift Used to represent the preset initial lifting distance of the image, the term in the denominator Used to correct the effect of distance changes on the interference coefficient during initial image detection.

[0078] Specifically, in this embodiment, the infrared initial swing distance and the infrared initial lifting distance are parameters collected by the infrared acquisition device when the swing motor and the drive motor are in a stationary state before being driven, and the image initial swing distance and the image initial lifting distance are parameters collected by the image acquisition device when the swing motor and the drive motor are in a stationary state before being driven. IR The range of C is [0,∞), where higher values ​​indicate stronger infrared interference. image The range of is [0,∞), where higher values ​​indicate stronger image interference.

[0079] The values ​​of the infrared interference coefficient and the image interference coefficient can be used to evaluate the degree of interference between infrared and image detection in the current environment, and accordingly adjust the infrared detection swing distance, infrared detection lifting distance, image detection swing distance, and image detection lifting distance to improve the accuracy and reliability of infrared detection and image detection.

[0080] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that improvements and modifications that do not depart from the principles of the present invention are within the scope of protection of the present invention.

Claims

1. A reciprocating servo wire feeding device, characterized in that: It comprises a wire feeding support (1), wherein a swing support plate (2) is provided on the wire feeding support (1), and a horizontally placed swing component (3) is provided on the swing support plate (2); The swing assembly (3) comprises a swing motor (31), a driving wheel (32), a first swing sleeve rod (33), a pressure rod (34), a second swing sleeve rod (35), a first position-limiting guide rail (36) and a first slider (37); the swing motor (31) is fixed on the swing support plate (2); the driving wheel (32) is fixedly sleeved on the output shaft of the swing motor (31); the two ends of the pressure rod (34) are respectively threadedly connected to the first swing sleeve rod (33) and the second swing sleeve rod (35); the first position-limiting guide rail (36) and the first slider (37) are fixedly sleeved on the output shaft of the swing motor (31); the two ends of the pressure rod (34) are respectively threadedly connected to the first swing sleeve rod (33) and the second swing sleeve rod (35); the first position-limiting guide rail (36) and the first slider (37) are fixedly sleeved on the output shaft of the swing motor (31); the first position-limiting guide rail (36) and the first slider (37) are fixedly sleeved on the output shaft of the swing motor (31); the first position-limiting guide rail (36) and the second position-limiting guide rail (36 ... One end of a swing sleeve (33) away from the pressure rod (34) is rotatably connected to the eccentric end of the driving wheel (32); one end of a second swing sleeve (35) away from the pressure rod (34) is rotatably connected to a wire feeding lifting bracket (4); the first limiting guide rail (36) is horizontally fixedly connected to a side of the wire feeding lifting bracket (4) facing the swing support plate (2); the first slider (37) is slidably connected to the first limiting guide rail (36); and the first slider (37) is fixedly connected to the swing support plate (2); The wire feeding lifting bracket (4) is provided with a wire feeding lifting assembly (5), and the wire feeding lifting assembly (5) includes a wire feeding driving motor (51), a lifting screw rod (52), a lifting connecting plate (53), a second limiting guide rail (54) and a second slider (55). The wire feeding driving motor (51) is vertically fixed on the wire feeding lifting bracket (4), and a lifting shaft sleeve (56) is fixedly embedded in the middle of the lifting connecting plate (53). The motor shaft of the wire feeding driving motor (51) is coaxially fixedly connected to the lifting screw rod (52), and the lifting shaft sleeve (56) is threadedly sleeved on the lifting screw rod (52). The second limiting guide rail (54) is vertically fixed on the side of the wire feeding lifting bracket (4) away from the swing support plate (2). The second slider (55) is vertically fixed in the lifting connecting plate (53), and the second slider (55) is slidably connected to the second limiting guide rail (54). The lifting connecting plate (53) is provided with top support rods (6) at both ends of the side away from the wire feeding lifting bracket (4), and the bottom of the two ends of the wire feeding lifting bracket (4) is provided with bottom support rods (7) at both ends of the side away from the swing support plate (2). A plurality of upper fixing bars (8) are evenly arranged on the top support rod (6), and a plurality of lower fixing bars (9) are evenly arranged on the bottom support rod (7). The upper fixing bars (8) are located directly above the corresponding lower fixing bars (9). A plurality of fixed wire tubes (10) are vertically passed through the upper fixing bars (8), and a wire is fixed in the fixed wire tubes (10). A plurality of wire threading tubes (11) are vertically passed through the lower fixing bars (9), and an electric shaver head is provided below the wire threading tubes (11); The swing motor (31) drives the first swing sleeve (33) to move eccentrically, thereby driving the wire feeding lifting bracket (4) to swing back and forth horizontally; The wire feeding drive motor (51) drives the lifting screw rod (52) to rotate, driving the lifting connecting plate (53) to move up and down, thereby driving the wire in the wire fixing tube (10) to move up and down in the wire threading tube (11) to reciprocate and contact the electric shaver head.

2. The reciprocating servo wire feeding device according to claim 1, characterized in that: A guide head (12) is threadedly connected to the bottom of the wire threading tube (11). The guide head (12) is hollow inside, and the bottom diameter of the guide head (12) is smaller than the diameter of the wire threading tube (11). When the fixed tube is driven to descend to the bottom of the wire threading tube (11), the wire in the fixed tube extends to the bottom of the guide head (12).

3. The reciprocating servo wire feeding device according to claim 1, characterized in that: The upper fixing bar (8) is also provided with a plurality of floating spring pins (13), which penetrate the upper fixing bar (8) and extend into the wire fixing tube (10) to position the wire in the wire fixing tube (10).

4. The reciprocating servo wire feeding device according to claim 1, characterized in that: The wire feeding bracket (1) is also provided with a bracket lifting assembly, and the bracket lifting assembly includes a lifting drive component (14). The lifting drive component (14) is fixed to the upper end of the wire feeding bracket (1), and the driving output end of the lifting drive component (14) is vertically downward and fixedly connected to the upper end of the swing support plate (2). The lifting drive component (14) is used to drive the swing support plate (2) to move up and down in the vertical direction.

5. The reciprocating servo wire feeding device according to claim 4, characterized in that: The bracket lifting assembly also includes a pair of third guide rails (15) and a pair of third sliders (16). The pair of third guide rails (15) are relatively arranged on one side of the wire feeding bracket (1) close to the swing support plate (2). The pair of third sliders (16) are relatively fixed on the swing support plate (2). The third sliders (16) are slidably connected to the third guide rails (15).

6. The reciprocating servo wire feeding device according to claim 4, characterized in that: An upper buffer (17) is provided at the upper end of the wire feeding bracket (1), and a lower buffer (18) is provided at the lower end of the wire feeding bracket (1); When the lifting drive component (14) drives the swing support plate (2) to move to the upper end of the wire feeding bracket (1), the upper end of the swing support plate (2) abuts against the upper buffer (17); when the lifting drive component (14) drives the swing support plate (2) to move to the lower end of the wire feeding bracket (1), the lower end of the swing support plate (2) abuts against the lower buffer (18).

7. The reciprocating servo wire feeding device according to claim 1, characterized in that: A pair of the first limiting guide rail (36) and the first sliding block (37) are provided. The pair of the first limiting guide rails (36) are relatively arranged at the upper and lower ends of the swing support plate (2) facing the wire feeding lifting bracket (4), and the pair of the first sliding blocks (37) are relatively arranged at the upper and lower ends of the wire feeding lifting bracket (4). A pair of the second limiting guide rails (54) and the second sliding block (55) are provided. The pair of the second limiting guide rails (54) are relatively arranged at the left and right ends of the wire feeding lifting bracket (4) facing the lifting connecting plate (53), and the pair of the second sliding blocks (55) are relatively arranged at the left and right ends of the lifting connecting plate (53).

8. The reciprocating servo wire feeding device according to claim 1, characterized in that: It also includes an image acquisition device (19), an infrared acquisition device (20) and an operation processing device (21), wherein the image acquisition device (19) and the infrared acquisition device (20) are electrically connected to the operation processing device (21), and the operation processing device (21) is also electrically connected to the swing motor (31) and the controller of the wire feeding drive motor (51); The image acquisition device is used to collect motion video during the motion of the lower fixed bar (9), and split the motion video into a plurality of motion image frames. The operation processing device (21) performs image recognition on the lower fixed bar (9) in the motion image frames to obtain an image-detected swing distance and an image-detected lifting distance. The infrared collection device (20) is used to measure the infrared detection swing distance and the infrared detection lifting distance of the lower fixing bar (9) using infrared light during the movement of the lower fixing bar (9); The operation processing device (21) obtains a comprehensive swing distance based on the image detection swing distance and the infrared detection swing distance, and obtains a comprehensive lifting distance based on the image detection lifting distance and the infrared detection lifting distance, and then subtracts the comprehensive swing distance from a preset standard swing distance to obtain a swing deviation distance, and subtracts the comprehensive lifting distance from a preset standard lifting distance to obtain a lifting deviation distance, and finally generates a drive adjustment instruction based on the swing deviation distance and the lifting deviation distance to dynamically adjust the driving status of the swing motor (31) and the wire feeding drive motor (51).

9. The reciprocating servo wire feeding device according to claim 8, characterized in that: The invention also includes an environment acquisition device (22) for real-time acquisition of the ambient light radiation wavelength, ambient temperature, ambient light intensity and ambient humidity in the environment. The environment acquisition device (22) is connected to the operation processing device (21). The operation processing device (21) generates an infrared interference coefficient according to the ambient light radiation wavelength, the ambient temperature and the ambient humidity, and generates an image interference coefficient according to the ambient light intensity and the ambient humidity. Finally, the swing deviation distance and the lifting deviation distance are corrected according to the infrared interference coefficient and the image interference coefficient.

10. The reciprocating servo wire feeding device according to claim 9, characterized in that: The calculation formula of the infrared interference coefficient is configured as follows: Among them, C IR is used to represent the infrared interference coefficient, λ1 and λ2 are used to represent the lower limit and upper limit of the ambient light radiation wavelength respectively, λ is used to represent the ambient light radiation wavelength, T is used to represent the ambient temperature, f(λ, T) is used to represent a function of the ambient light radiation wavelength and the ambient temperature, which function represents the infrared radiation intensity at different wavelengths and temperatures, H is used to represent the ambient humidity, g(H) is used to represent a function of the ambient humidity, which function represents the influence of the ambient humidity on infrared radiation, D swing Used to indicate the preset infrared initial swing distance, D lift Used to indicate the preset infrared initial lifting distance; The calculation formula of the image interference coefficient is configured as: Among them, C image Used to represent the image interference coefficient, L i Used to represent the ambient light intensity, I(L i ) is used to represent a function about the ambient light intensity, which represents the image acquisition quality under different light intensities, h(H) is used to represent a function about the ambient humidity, which represents the impact of different humidity on image acquisition, n is used to represent the number of the ambient light intensity levels configured in the formula, S swing Used to indicate the preset initial swing distance of the image, S lift Used to indicate the preset initial lifting distance of the image.

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