Crankshaft balance block automatic detection system based on visual measurement

Abstract

The invention provides a crankshaft balance block automatic detection system based on visual measurement. The crankshaft balance block automatic detection system comprises an incoming material conveying mechanism, a truss transferring mechanism, a visual detection device and a circulation sorting mechanism. The incoming material conveying mechanism comprises a first support, a conveying belt, a guide plate set, a limiting stopper and a positioning push plate mechanism. The truss transferring mechanism comprises a second support, a feeding transferring unit and a discharging transferring unit. The visual inspection device comprises a box body, a main body platform, a sliding table, a jig, a backlight source, a calibration plate, a reciprocating transposition driving mechanism and an industrial camera. The crankshaft workpiece transfer automation is realized through the incoming material conveying mechanism and the truss transfer mechanism, the crankshaft workpiece detection automation is realized through the visual detection device, the crankshaft workpiece circulation sorting automation is realized through the circulation sorting mechanism, and the procedure operations of transferring, detection, circulation sorting and the like of batch crankshaft workpieces can be synchronously carried out in sequence; the detection precision is high, the efficiency is high, the detection standard consistency is good, and the crankshaft detection comprehensive cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of crankshaft detection of a core component of an automobile engine, and in particular to an automatic detection system for a crankshaft balance block based on visual measurement. Background Art

[0002] The crankshaft is the core component of the engine. Its function is to convert the linear reciprocating motion of the piston into rotational motion and output the power in a unified manner. In order to balance the rotational centrifugal force and its torque, a counterweight (also called a counterweight) is installed on the crankshaft. The number, size and placement of the counterweight should be considered according to factors such as the number of cylinders in the engine, the arrangement of cylinders and the shape of the crankshaft. If the size of the counterweight is incorrect during the manufacturing process, it may cause the crankshaft to be unbalanced, causing the engine vibration to intensify, increasing the wear of parts and components, shortening the engine life, and then causing the stability of the vehicle, reducing driving safety and increasing driving risks. Therefore, in order to ensure the normal operation of the engine and the performance of the vehicle, the size of the crankshaft counterweight must meet the design requirements and remain correct.

[0003] At present, the method of detecting the size of crankshaft balance blocks in automobile crankshaft parts processing workshops is mostly done manually using pallets, which is not only time-consuming and labor-intensive, but also has a large error range and cannot guarantee the consistency of products. When testing large quantities of crankshafts, workers are extremely tired. Some factories currently use Zeiss three-coordinate devices for testing, which is not only expensive, but also takes too long and is very inefficient. Summary of the invention

[0004] In order to overcome the above-mentioned deficiencies of the prior art, an object of the present invention is to provide an automatic detection system for crankshaft balancing blocks based on visual measurement.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention to solve the technical problem is: an automatic detection system for crankshaft balance block based on visual measurement, comprising:

[0006] The incoming material conveying mechanism comprises a first bracket, a conveyor belt, a guide plate group, a stopper and a positioning push plate mechanism; the conveyor belt is installed on the first bracket and driven by the driving mechanism to rotate, and the crankshaft to be tested is placed on the conveyor belt and conveyed forward; the guide plate group is used to guide the crankshaft to a set angle, the stopper is used to limit the front end of the crankshaft to a set position, and the positioning push plate mechanism is used to position the crankshaft at the loading station position of the truss transfer mechanism;

[0007] The truss transfer mechanism includes a second bracket, a loading and unloading transfer unit and a unloading and unloading transfer unit. A loading station, a detection device loading and unloading station and an unloading station are arranged below the second bracket; the loading and unloading transfer unit includes a loading and unloading frame, a first translation drive mechanism, a first lifting drive mechanism and a first grasping mechanism. The loading and unloading frame can be installed on the second bracket in a translational manner. The first translation drive mechanism drives the loading and unloading frame to reciprocate between the loading station and the detection device loading and unloading station. The first lifting drive mechanism drives the first grasping mechanism. The mechanism moves up and down along the loading and unloading carriage, and the first grabbing mechanism is used to grab the crankshaft; the unloading and unloading unit includes a unloading and unloading carriage, a second translation drive mechanism, a second lifting drive mechanism and a second grabbing mechanism, the unloading and unloading carriage can be installed on the second bracket in a translational manner, the second translation drive mechanism drives the unloading and unloading carriage to reciprocate between the loading and unloading station of the detection device and the unloading station, the second lifting drive mechanism drives the second grabbing mechanism to move up and down along the unloading and unloading carriage, and the second grabbing mechanism is used to grab the crankshaft;

[0008] A visual inspection device, comprising a box, a main body platform, a slide, a fixture, a backlight source, a calibration plate, a reciprocating transposition drive mechanism and an industrial camera, wherein an inspection station is arranged on the main body platform, the left end of the main body platform extends to the inspection device loading and unloading station below the second bracket, the slide is installed between the inspection device loading and unloading station and the inspection station of the main body platform, the fixture can be installed on the slide in a translational manner, the reciprocating transposition drive mechanism is used to drive the fixture to move and transpose between the inspection device loading and unloading station and the inspection station, the backlight source and the calibration plate are installed at the inspection station position of the main body platform, the backlight source is located below the calibration plate, and the industrial camera is installed above the inspection station in the box;

[0009] The circulation sorting mechanism comprises a circular steering conveyor line, a first sorting push plate, a second sorting push plate, a qualified product box, a non-qualified product box and a circulation fixture, wherein the circular steering conveyor line comprises a front linear slide, a rear linear slide, a left-end reversing slide and a right-end reversing slide, wherein the conveying directions of the front linear slide and the rear linear slide are along the left-right direction and the two directions are opposite, and the left-end reversing slide and the right-end reversing slide both comprise a front-to-back transmission belt mechanism, a left-to-right transmission roller wheel group, and a lifting mechanism, wherein the lifting mechanism is used to drive the left The right conveying roller wheel group is raised and lowered to realize the contact and transmission between the flow fixture and the left and right conveying roller wheel groups or the front and rear transmission belt mechanisms; the unloading station under the second bracket is located in the front half of the left end reversing slide; the first sorting push plate is installed in the front linear slide, and the first sorting push plate is used to push the detected unqualified crankshafts into the unqualified product box, and the second sorting push plate is installed in the front linear slide, and the second sorting push plate is used to push the detected qualified crankshafts into the qualified product box.

[0010] The present invention realizes the automation of crankshaft workpiece transfer through the incoming material conveying mechanism and the truss transfer mechanism, realizes the automation of crankshaft workpiece inspection through the visual inspection device, and realizes the automation of crankshaft workpiece circulation sorting through the circulation sorting mechanism. It can synchronously and sequentially perform the transfer, inspection, circulation sorting and other process operations of batch crankshaft workpieces, has high inspection accuracy, high efficiency, good consistency of inspection standards, and reduces the comprehensive cost of crankshaft inspection.

[0011] Furthermore, the guide plate group includes a first guide plate group and a second guide plate group distributed front and back along the conveying direction of the conveyor belt, and the first guide plate group and the second guide plate group both include a front guide side plate and a rear guide side plate, and the middle part of the front guide side plate and the middle part of the rear guide side plate are provided with a section of oppositely arranged and gradually closing oblique section.

[0012] Furthermore, the positioning push plate mechanism includes a first push plate mechanism and a second push plate mechanism distributed front and back along the conveying direction of the conveyor belt, the first push plate mechanism is located at the exit position of the first guide plate group, and the second push plate mechanism is located at the exit position of the second guide plate group, the first push plate mechanism and the second push plate mechanism both include a front push plate, a rear push plate, a front push cylinder and a rear push cylinder, and the front push plate and the rear push plate jointly clamp the crankshaft shaft for positioning.

[0013] By adopting the above preferred scheme, the guide plate group can realize the rough radial positioning of the crankshaft. Based on the axial positioning of the limiter, the positioning push plate mechanism realizes the precise positioning of the crankshaft workpiece, so as to facilitate the stable grasping and transfer of the rear-end grasping mechanism.

[0014] Furthermore, the first grasping mechanism and the second grasping mechanism both include a mounting connection plate and two clamping mechanisms arranged on the left and right, the clamping mechanism includes a linear drive cylinder, a hexagonal bracket, a left clamping jaw, a right clamping jaw, a left first connecting rod, a left second connecting rod, a left third connecting rod, a right first connecting rod, a right second connecting rod, a right third connecting rod and a linkage block, the cylinder seat of the linear drive cylinder is fixedly mounted on the mounting connection plate, the hexagonal bracket is connected to the cylinder seat of the linear drive cylinder, the middle part of the linkage block is connected to the telescopic rod of the linear drive cylinder, one end of the left first connecting rod is hinged to the left end of the linkage block, and the right One end of the first connecting rod is hinged to the right end of the linkage block, the other end of the left first connecting rod is hinged to one end of the left second connecting rod, the other end of the right first connecting rod is hinged to one end of the right second connecting rod, the middle part of the left second connecting rod is hinged to the left end of the hexagonal bracket, the middle part of the right second connecting rod is hinged to the right end of the hexagonal bracket, the other end of the left second connecting rod is hinged to the left clamping claw, the other end of the right second connecting rod is hinged to the right clamping claw, one end of the left third connecting rod is hinged to the hexagonal bracket, the other end of the left third connecting rod is hinged to the left clamping claw, and the other end of the right third connecting rod is hinged to the right clamping claw.

[0015] By adopting the above preferred solution, it is possible to achieve stable and rapid grasping and releasing of the crankshaft workpiece, thereby improving the accuracy and efficiency of crankshaft transfer.

[0016] Furthermore, the jig includes a base plate, two V-groove plates arranged on the left and right, a positioning pin mechanism and a pressure sensor, the V-groove plate is used to support the crankshaft workpiece to be tested, the positioning pin mechanism includes a positioning pin and a lifting drive mechanism, the positioning pin is used to position the crankshaft workpiece to be tested, and the pressure sensor is used to detect whether the crankshaft to be tested is placed on the jig.

[0017] By adopting the above preferred solution, the presence of the crankshaft workpiece can be automatically detected, ensuring that a uniform and stable posture is maintained during the image detection process, thereby improving the detection accuracy.

[0018] Furthermore, the number of the industrial cameras is 3, and the 3 industrial cameras are respectively located directly above the left end balancing block, the right end balancing block and the middle balancing block group of the crankshaft to be tested on the inspection station.

[0019] The above preferred solution can better adapt to the structural characteristics of long-axis crankshaft components, ensure clear imaging, and improve detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a structural schematic diagram of an implementation method of the detection system of the present invention.

[0022] Figure 2 It is a structural diagram of the incoming material conveying mechanism.

[0023] Figure 3 It is a structural diagram of the truss transfer mechanism.

[0024] Figure 4 It is a structural schematic diagram of the first grasping mechanism.

[0025] Figure 5 It is a structural diagram of the clamping mechanism.

[0026] Figure 6 It is a structural schematic diagram of a visual inspection device.

[0027] Figure 7 It is a structural diagram of the circulation sorting mechanism.

[0028] Figure 8 It is a structural diagram of the left end reversing slide.

[0029] Fig. 9 It is a flow chart of an implementation method of the detection method of the present invention.

[0030] Fig.10 It is a flow chart of the visual inspection steps of the present invention.

[0031] Fig.11 It is a structural diagram of the crankshaft workpiece.

[0032] Fig. 12A This is a shadow image of the balance block at the left end of the crankshaft taken by an industrial camera.

[0033] Fig. 12B This is a shadow image of the crankshaft intermediate balance block group taken by an industrial camera.

[0034] Fig. 12C This is a shadow image of the balance block at the right end of the crankshaft taken by an industrial camera.

[0035] Fig.13 It is a shadow diagram of the entire crankshaft balance block after splicing.

[0036] The numbers and letters in the figure represent the names of the corresponding parts:

[0037] 10-incoming material conveying mechanism; 11-first bracket; 12-conveyor belt; 13-guide plate group; 131-first guide plate group; 1311-front guide side plate; 1312-rear guide side plate; 1313-oblique section; 132-second guide plate group; 14-stopper; 15-positioning push plate mechanism; 151-first push plate mechanism; 1511-front push plate; 1512-rear push plate; 1513-front push cylinder; 1514-rear push cylinder; 152-second push plate mechanism; 20-truss transfer mechanism; 21-second support Rack; 211-loading station; 212-testing device loading and unloading station; 213-unloading station; 22-loading and transferring unit; 221-loading and transferring rack; 222-first translation drive mechanism; 223-first lifting drive mechanism; 224-first grabbing mechanism; 2241-installation connecting plate; 2242-linear drive cylinder; 2243-hexagonal bracket; 2244-left clamp; 2245-right clamp; 2246-left first connecting rod; 2247-left second connecting rod; 2248-left third connecting rod; 2249 -right first connecting rod; 2251-right second connecting rod; 2252-right third connecting rod; 2253-linkage block; 23-unloading and transferring unit; 231-unloading and transferring rack; 232-second translation drive mechanism; 233-second lifting drive mechanism; 234-second grabbing mechanism; 30-visual inspection device; 31-box; 32-main platform; 33-slide; 34-jig; 341-bottom plate; 342-V-groove plate; 343-positioning pin mechanism; 35-reciprocating transposition drive mechanism; 36-industrial camera; 40 - circulation sorting mechanism; 41- circular steering conveyor line; 411- front linear slide; 412- rear linear slide; 413- left end reversing slide; 4131- front and rear transmission belt mechanism; 4132- left and right transmission roller group; 4133- lifting mechanism; 414- right end reversing slide; 42- first sorting push plate; 43- second sorting push plate; 44- qualified product box; 45- unqualified product box; 46- circulation fixture; 50- crankshaft workpiece; 51- left end balance block; 52- middle balance block group; 53- right end balance block. DETAILED DESCRIPTION

[0038] 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.

[0039] like Figure 1-8 As shown, one embodiment of the present invention is: an automatic detection system for crankshaft balance block based on visual measurement, such as Fig.11As shown, the crankshaft workpiece 50 to be inspected includes a left-end balancing block 51, a right-end balancing block 53 and an intermediate balancing block group 52, and the intermediate balancing block group 52 includes two axially symmetrical balancing blocks arranged adjacent to each other;

[0040] The detection system includes:

[0041] The incoming material conveying mechanism 10 includes a first bracket 11, a conveyor belt 12, a guide plate group 13, a stopper 14 and a positioning push plate mechanism 15; the conveyor belt 12 is installed on the first bracket 11 and driven by the driving mechanism to rotate, and the crankshaft workpiece 50 to be tested is placed on the conveyor belt 12 and conveyed forward; the guide plate group 13 is used to guide the crankshaft workpiece 50 to a set angle, the stopper 14 is used to limit the front end of the crankshaft workpiece 14 to a set position, and the positioning push plate mechanism 15 is used to position the crankshaft workpiece at the loading station position of the truss transfer mechanism;

[0042] The truss transfer mechanism 20 includes a second bracket 21, a loading transfer unit 22 and a unloading transfer unit 23. A loading station 211, a detection device loading and unloading station 212 and an unloading station 213 are arranged below the second bracket 21; the loading transfer unit 22 includes a loading transfer frame 221, a first translation drive mechanism 222, a first lifting drive mechanism 223 and a first grabbing mechanism 224. The loading transfer frame 221 can be installed on the second bracket 21 in a translational manner. The first translation drive mechanism 222 drives the loading transfer frame 221 to reciprocate between the loading station 211 and the detection device loading and unloading station 212. The first lifting drive mechanism 223 drives the first grabbing mechanism 224. The first gripping mechanism 224 moves up and down along the loading and transferring carriage 221, and the first gripping mechanism 224 is used to grip the crankshaft workpiece 50; the unloading and transferring unit 23 includes an unloading and transferring carriage 231, a second translation driving mechanism 232, a second lifting driving mechanism 233 and a second gripping mechanism 234, the unloading and transferring carriage 231 can be translationally installed on the second bracket 21, the second translation driving mechanism 232 drives the unloading and transferring carriage 231 to reciprocate between the loading and unloading station 212 and the unloading station 213 of the detection device, the second lifting driving mechanism 233 drives the second gripping mechanism 234 to move up and down along the unloading and transferring carriage 231, and the second gripping mechanism 234 is used to grip the crankshaft workpiece 50;

[0043] A visual inspection device 30 includes a box 31, a main platform 32, a slide 33, a fixture 34, a backlight source, a calibration plate, a reciprocating transposition drive mechanism 35 and an industrial camera 36. An inspection station is provided on the main platform 32. The left end of the main platform 32 extends to the inspection device loading and unloading station 212 below the second bracket 21. The slide 33 is installed between the inspection device loading and unloading station 212 and the inspection station of the main platform 32. The fixture 34 can be installed on the slide 33 in a translational manner. The reciprocating transposition drive mechanism 35 is used to drive the fixture 34 to move and transpose between the inspection device loading and unloading station 212 and the inspection station. The backlight source and the calibration plate are installed at the inspection station position of the main platform 32. The backlight source is located below the calibration plate. The industrial camera 36 is installed above the inspection station in the box 31.

[0044] The circulation sorting mechanism 40 includes a circular steering conveyor line 41, a first sorting push plate 42, a second sorting push plate 43, a qualified product box 44, a non-qualified product box 45 and a circulation fixture 46. The circular steering conveyor line 41 includes a front linear slide 411, a rear linear slide 412, a left-end reversing slide 413 and a right-end reversing slide 414. The conveying directions of the front linear slide 411 and the rear linear slide 412 are along the left and right directions and are opposite to each other. The left-end reversing slide 413 and the right-end reversing slide 414 both include a front-to-back transmission belt mechanism 4131, a left-to-right transmission roller wheel group 4132, and a lifting mechanism 4133. The lifting mechanism The structure 4133 is used to drive the left and right conveying roller wheel group 4132 to rise and fall, so as to realize the contact and transmission of the flow fixture 46 with the left and right conveying roller wheel group 4132 or the contact and transmission with the front and rear transmission belt mechanism 4131; the unloading station 213 under the second bracket is located in the front half of the left end reversing slide 413; the first sorting push plate 42 is installed in the front linear slide 411, and the first sorting push plate 42 is used to push the detected unqualified crankshaft workpiece into the unqualified product box 45, and the second sorting push plate 43 is installed in the front linear slide 411, and the second sorting push plate 43 is used to push the detected qualified crankshaft workpiece into the qualified product box 44.

[0045] The beneficial effects of adopting the above technical scheme are: the crankshaft workpiece transfer automation is realized through the incoming material conveying mechanism and the truss transfer mechanism, the crankshaft workpiece inspection automation is realized by the visual inspection device, and the crankshaft workpiece circulation sorting automation is realized by the flow sorting mechanism. The transfer, inspection, circulation sorting and other process operations of batch crankshaft workpieces can be carried out synchronously and sequentially, with high inspection accuracy, high efficiency, good consistency of inspection standards, and reduced comprehensive crankshaft inspection costs.

[0046] like Figure 2As shown, in some other embodiments of the present invention, the guide plate group 13 includes a first guide plate group 131 and a second guide plate group 132 distributed front and back along the conveying direction of the conveyor belt, and the first guide plate group 131 and the second guide plate group 132 both include a front guide side plate 1311 and a rear guide side plate 1312, and the middle part of the front guide side plate 1311 and the middle part of the rear guide side plate 1312 are provided with a relatively arranged and gradually closing oblique section 1313. The positioning push plate mechanism 15 includes a first push plate mechanism 151 and a second push plate mechanism 152 distributed front and back along the conveying direction of the conveyor belt. The first push plate mechanism 151 is located at the exit position of the first guide plate group 131, and the second push plate mechanism 152 is located at the exit position of the second guide plate group 132. The first push plate mechanism 151 and the second push plate mechanism 152 both include a front push plate 1511, a rear push plate 1512, a front push cylinder 1513 and a rear push cylinder 1514. The front push plate 1511 and the rear push plate 1512 jointly hold the crankshaft body for positioning. The beneficial effect of adopting the above technical solution is that the guide plate group can realize the radial rough positioning of the crankshaft, and on the basis of the axial positioning of the limiter, the positioning push plate mechanism realizes the precise positioning of the crankshaft workpiece, so as to facilitate the stable grasping and transfer of the rear end grasping mechanism.

[0047] like Figure 4 , 5As shown, in some other embodiments of the present invention, the first grasping mechanism 224 and the second grasping mechanism 234 both include a mounting connecting plate 2241 and two clamping mechanisms arranged on the left and right, the clamping mechanism includes a linear drive cylinder 22452, a hexagonal bracket 2243, a left clamping jaw 2244, a right clamping jaw 2245, a left first connecting rod 2246, a left second connecting rod 2247, a left third connecting rod 2248, a right first connecting rod 2249, a right second connecting rod 2251, a right third connecting rod 2252 and a linkage block 2253, the cylinder seat of the linear drive cylinder 22452 is fixedly mounted on the mounting connecting plate 121, the hexagonal bracket 2243 is connected to the cylinder seat of the linear drive cylinder 22452, the middle part of the linkage block 2253 is connected to the telescopic rod of the linear drive cylinder 22452, and one end of the left first connecting rod 2246 is connected to the linkage The left end of block 2253 is hinged, one end of the right first link 2249 is hinged to the right end of the linkage block 2253, the other end of the left first link 2246 is hinged to one end of the left second link 2247, the other end of the right first link 2249 is hinged to one end of the right second link 2251, the middle part of the left second link 2251 is hinged to the left end of the hexagonal bracket 2243, the middle part of the right second link 2251 is hinged to the right end of the hexagonal bracket 2243, the other end of the left second link 2251 is hinged to the left clamp 2244, the other end of the right second link 2251 is hinged to the right clamp 2245, one end of the left third link 2248 is hinged to the hexagonal bracket 2243, the other end of the left third link 2248 is hinged to the left clamp 2244, and the other end of the right third link 2252 is hinged to the right clamp 2245. The beneficial effect of adopting the above technical solution is that it can achieve stable grasping of the crankshaft workpiece.

[0048] In some other embodiments of the present invention, the jig 34 includes a bottom plate, two V-grooved plates arranged on the left and right, a positioning pin mechanism and a pressure sensor, wherein the V-grooved plate is used to support the crankshaft workpiece to be tested, the positioning pin mechanism includes a positioning pin and a jacking drive mechanism, the positioning pin is used to position the crankshaft workpiece to be tested, and the pressure sensor is used to detect whether the crankshaft to be tested is placed on the jig. The beneficial effect of adopting the above technical solution is that the existence of the crankshaft workpiece can be automatically detected, ensuring that a uniform and stable posture is maintained during the image detection process, and improving the detection accuracy.

[0049] In some other embodiments of the present invention, there are three industrial cameras 36, which are respectively located directly above the left end balance block, the right end balance block and the middle balance block group of the crankshaft to be tested on the testing station. The beneficial effect of adopting the above technical solution is that it can better adapt to the structural characteristics of long-axis crankshaft components, ensure clear imaging, and improve detection accuracy.

[0050] like Fig. 9As shown, in one embodiment of the present invention, a crankshaft balancing block automatic detection method based on visual measurement, based on the above-mentioned crankshaft balancing block automatic detection system based on visual measurement, comprises the following steps:

[0051] Step A, incoming material positioning, the crankshaft workpiece to be tested is conveyed by the conveyor belt of the incoming material conveying mechanism, guided by the guide plate group, and positioned by the positioning push plate mechanism;

[0052] Step B, loading, the loading and transferring unit moves the crankshaft workpiece from the loading station to the fixture of the loading and unloading station of the detection device;

[0053] Step C, visual inspection, inspecting the crankshaft workpiece by a visual inspection device;

[0054] Step D, unloading, the unloading and transferring unit moves the crankshaft workpiece from the fixture of the unloading and loading station of the detection device to the transfer fixture of the unloading station;

[0055] Step E, circulation sorting, the crankshaft workpieces after inspection are circulated through the circular steering conveyor line. When they are detected as unqualified products, the first sorting push plate pushes the unqualified crankshaft workpieces into the unqualified product box; when they are detected as qualified products, the second sorting push plate pushes the qualified crankshaft workpieces into the qualified product box.

[0056] like Fig.10 As shown, in an embodiment of the present invention, step C, the visual detection step, is specifically as follows:

[0057] Step C1, calibrating the internal and external parameters of three industrial cameras;

[0058] In an embodiment of the present invention, step C1 specifically includes:

[0059] C11, turn on the backlight source, and shoot the straight line generated by the transparent calibration plate under the backlight source by adjusting the exposure of the camera;

[0060] C12, calling the camera calibration algorithm to calibrate the intrinsic parameters and extrinsic parameters of the camera, wherein the intrinsic parameters include but are not limited to focal length, principal point coordinates, and distortion coefficients, and the extrinsic parameters include but are not limited to rotation matrix and translation vector, respectively determining the internal imaging characteristics of the camera and the position and posture of the camera in the world coordinate system;

[0061] C13, turn off the backlight source;

[0062] C14, placing a test workpiece at the inspection station, turning on the backlight source, and using the industrial camera to capture the test workpiece to obtain a real-time shadow image, and analyzing the shooting performance of the industrial camera based on the real-time shadow image; wherein the test workpiece is a qualified workpiece without any error;

[0063] In an embodiment of the present invention, step C14 specifically includes:

[0064] C141, input the standard image of the test workpiece taken at the same viewing angle;

[0065] C142, extracting a real-time workpiece contour image of the test workpiece in the real-time image and a standard workpiece contour image of the test workpiece in the standard image according to pixel point differences;

[0066] C143, establish a rectangular coordinate system with the upper left corner of the standard workpiece outline, and select any coordinate point in the standard workpiece outline. The coordinate point is on the test workpiece and is marked as a feature point Di, where i is the number of the feature point, i = 1, 2, ..., n, where n is a positive integer;

[0067] C144, select a feature point as the starting point, calculate the interval distances between the starting point and all other feature points, and use the interval distances as the feature values ​​of the feature points corresponding to the starting point;

[0068] C145, similarly, select the next feature point as the starting point, and obtain the feature values ​​of all feature points according to the above operation;

[0069] C146, constructing the first characteristic matrix of the standard workpiece contour map according to the characteristic values ​​of all characteristic points;

[0070] C147, similarly, according to steps C143 to C146, a second characteristic matrix of the real-time workpiece contour image is constructed;

[0071] C148, comparing the first characteristic matrix with the second characteristic matrix;

[0072] If any eigenvalue in the first characteristic matrix is ​​different from the eigenvalue at the corresponding position in the second characteristic matrix, a device abnormality signal is generated;

[0073] If all eigenvalues ​​in the first characteristic matrix are the same as the eigenvalues ​​at corresponding positions in the second characteristic matrix, a normal device signal is generated.

[0074] Step C2, when the crankshaft to be tested is placed on the fixture of the loading and unloading station of the testing device, when the pressure sensor detects pressure, the lifting drive mechanism drives the positioning pin to position and fix the current crankshaft workpiece;

[0075] Step C3, the reciprocating drive mechanism drives the fixture to move to the inspection station;

[0076] Step C4, after the in-place sensor detects the in-place signal of the fixture at the detection station, the backlight source is turned on, and the industrial camera takes a picture of the current crankshaft workpiece and determines the size;

[0077] Step C4 specifically includes:

[0078] C40, inputting corresponding historical detection data according to the model of the crankshaft workpiece to be detected, and obtaining the detection force of the crankshaft workpiece to be detected based on the historical detection data;

[0079] It should be specifically stated that the historical inspection data is the number of inspections of the crankshaft workpiece of the same model as the crankshaft workpiece to be inspected, the number of inspection anomalies, and the error value at each inspection anomaly;

[0080] In an embodiment of the present invention, step C40 specifically includes:

[0081] C401, obtaining the number of inspections and the number of abnormal inspections of the crankshaft workpiece of the same model as the crankshaft workpiece to be inspected, and obtaining the abnormal inspection rate YL of the crankshaft workpiece of the same model as the crankshaft workpiece to be inspected by dividing the number of abnormal inspections by the number of inspections;

[0082] C402, obtaining the error value of the crankshaft workpiece of the same model as the crankshaft workpiece to be detected each time when an abnormality is detected, and adding and averaging the error values ​​of each abnormality detection to obtain the detection error value JW of the crankshaft workpiece of the same model as the crankshaft workpiece to be detected;

[0083] C403, substitute the detection abnormality rate and the detection error value into the calculation formula to calculate the detection force value JL of the same type of crankshaft workpiece as the crankshaft workpiece to be detected. The calculation formula is as follows:

[0084] JL=YL×a1+JW×a2; where a1 and a2 are weight coefficients with fixed values, and a1>a2;

[0085] C404, comparing the detection force value with the detection force threshold value, and determining the detection level of the crankshaft workpiece of the same model as the crankshaft workpiece to be detected;

[0086] If the detection force value is less than the first detection force threshold, the detection level of the crankshaft workpiece of the same model as the crankshaft workpiece to be detected is the third detection level;

[0087] If the detection force value is greater than or equal to the first detection force threshold and less than the second detection force threshold, the detection level of the crankshaft workpiece of the same model as the crankshaft workpiece to be detected is the second detection level;

[0088] If the detection strength value is greater than or equal to the second detection strength threshold, the detection level of the crankshaft workpiece of the same model as the crankshaft workpiece to be detected is the first detection level; wherein the first detection strength threshold is less than the second detection strength threshold, the detection strength of the first detection level is greater than the detection strength of the second detection level, and the detection strength of the second detection level is greater than the detection strength of the third detection level;

[0089] C405, according to the detection level, obtains the detection force of the crankshaft workpiece of the same model as the crankshaft workpiece to be detected, and the detection force of the crankshaft workpiece of the same model as the crankshaft workpiece to be detected is the detection force of the crankshaft workpiece to be detected;

[0090] In specific implementation, the detection intensity can be distinguished by the number of shots of the industrial camera. For example, the number of shots of the crankshaft workpiece to be inspected corresponding to the first detection level is 5 times, the number of shots of the crankshaft workpiece to be inspected corresponding to the second detection level is 3 times, and the number of shots of the crankshaft workpiece to be inspected corresponding to the second detection level is 1 time.

[0091] C41, after the in-position sensor detects the in-position signal of the fixture at the detection station, the backlight source is turned on and the crankshaft balance block is photographed to obtain the balance block shadow image within the depth of field of each camera (such as Fig. 12A , Fig. 12B , Fig. 12C shown);

[0092] C42, calling the internal and external parameters of the industrial camera determined in step C1, performs rigid body transformation on the coordinate system of each industrial camera, converts it into a common world coordinate system and splices it to form an overall crankshaft balance block shadow map (such as Fig.13 shown);

[0093] C43, the reference measurement line for constructing the shadow map;

[0094] Step C43 specifically includes:

[0095] C431, find the intermediate balance block group from the overall crankshaft balance block shadow diagram;

[0096] C432, select four different points (x11,x11), (x12,y11), (x12,y12), (x11,y12) on both sides of the middle balancing block group, where (x11,x11) and (x12,y11) are on the same horizontal line, and (x12,y12) and (x11,y12) are on the same horizontal line;

[0097] C433, connect the two points (x11,x11) and (x12,y11), and (x12,y12) and (x11,y12) on the same horizontal line to obtain two line segments, and calculate the center point (X 01 , Y 01 ) and (X 02 , Y 02 );

[0098] C434: Get the position coordinates of two sets of center points (X 01 , Y 01 ) and (X 02 , Y02 ), and construct the reference measurement line through the formula, the formula is as follows:

[0099]

[0100] That is the equation:

[0101] (y 02 -y 01 )x+(x 01 -x 02 )y+x02y 01 -y 02 x 01 =0;

[0102] C44: Calculate the vertical distance from the constructed reference measurement line to the edge of each balance block shadow diagram, and determine whether the vertical distance is within the error range, so as to determine whether a normal signal or an abnormal signal of the workpiece is generated;

[0103] Step C44 specifically includes:

[0104] C441, convention: A = Y 02 -Y 01 ; B = X 01 -X 02 ; C = X 02 Y 01 -Y 02 X 01 ;

[0105] Therefore, the equation:

[0106] (y 02 -y 01 )x+(x 01 -x 02 )y+x 02 y 01 -y 02 x 01 =0;

[0107] Evolves to: Ax+By+C=0;

[0108] C442, select two measuring points on each side of the balance block, and calculate the vertical distance dij from each measuring point on the balance block to the reference measuring line by the formula, i is the balance block number of the measuring point, starting from number 1, j is the two different points of the balance block of the measuring point, starting from number 1, the specific formula is as follows:

[0109]

[0110] C443, respectively obtain the vertical distance from each side of the balancing block to the reference measurement line, and take the average value as the final vertical distance of the balancing block size detection. If the vertical distance is within the error range, the crankshaft workpiece to be detected is considered to be a qualified part, and a workpiece normal signal is generated. If the vertical distance is not within the error range, the crankshaft workpiece to be detected is considered to be an unqualified part, and a workpiece abnormal signal is generated;

[0111] Step C5, the reciprocating drive mechanism drives the fixture to move to the loading and unloading station of the detection device.

[0112] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable ordinary technicians in the field to understand the content of the present invention and implement it. They cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic detection system for crankshaft balance block based on visual measurement, characterized in that: include: The incoming material conveying mechanism comprises a first bracket, a conveyor belt, a guide plate group, a stopper and a positioning push plate mechanism; the conveyor belt is installed on the first bracket and driven by the driving mechanism to rotate, and the crankshaft to be tested is placed on the conveyor belt and conveyed forward; the guide plate group is used to guide the crankshaft to a set angle, the stopper is used to limit the front end of the crankshaft to a set position, and the positioning push plate mechanism is used to position the crankshaft at the loading station position of the truss transfer mechanism; The truss transfer mechanism includes a second bracket, a loading and unloading transfer unit and a unloading and unloading transfer unit. A loading station, a detection device loading and unloading station and an unloading station are arranged below the second bracket; the loading and unloading transfer unit includes a loading and unloading frame, a first translation drive mechanism, a first lifting drive mechanism and a first grasping mechanism. The loading and unloading frame can be installed on the second bracket in a translational manner. The first translation drive mechanism drives the loading and unloading frame to reciprocate between the loading station and the detection device loading and unloading station. The first lifting drive mechanism drives the first grasping mechanism. The mechanism moves up and down along the loading and unloading carriage, and the first grabbing mechanism is used to grab the crankshaft; the unloading and unloading unit includes a unloading and unloading carriage, a second translation drive mechanism, a second lifting drive mechanism and a second grabbing mechanism, the unloading and unloading carriage can be installed on the second bracket in a translational manner, the second translation drive mechanism drives the unloading and unloading carriage to reciprocate between the loading and unloading station of the detection device and the unloading station, the second lifting drive mechanism drives the second grabbing mechanism to move up and down along the unloading and unloading carriage, and the second grabbing mechanism is used to grab the crankshaft; A visual inspection device, comprising a box, a main body platform, a slide, a fixture, a backlight source, a calibration plate, a reciprocating transposition drive mechanism and an industrial camera, wherein an inspection station is arranged on the main body platform, the left end of the main body platform extends to the inspection device loading and unloading station below the second bracket, the slide is installed between the inspection device loading and unloading station and the inspection station of the main body platform, the fixture can be installed on the slide in a translational manner, the reciprocating transposition drive mechanism is used to drive the fixture to move and transpose between the inspection device loading and unloading station and the inspection station, the backlight source and the calibration plate are installed at the inspection station position of the main body platform, the backlight source is located below the calibration plate, and the industrial camera is installed above the inspection station in the box; The circulation sorting mechanism comprises a circular steering conveyor line, a first sorting push plate, a second sorting push plate, a qualified product box, a non-qualified product box and a circulation fixture, wherein the circular steering conveyor line comprises a front linear slide, a rear linear slide, a left-end reversing slide and a right-end reversing slide, wherein the conveying directions of the front linear slide and the rear linear slide are along the left-right direction and the two directions are opposite, and the left-end reversing slide and the right-end reversing slide both comprise a front-to-back transmission belt mechanism, a left-to-right transmission roller wheel group, and a lifting mechanism, wherein the lifting mechanism is used to drive the left The right conveying roller wheel group is raised and lowered to realize the contact and transmission between the flow fixture and the left and right conveying roller wheel groups or the front and rear transmission belt mechanisms; the unloading station under the second bracket is located in the front half of the left end reversing slide; the first sorting push plate is installed in the front linear slide, and the first sorting push plate is used to push the detected unqualified crankshafts into the unqualified product box, and the second sorting push plate is installed in the front linear slide, and the second sorting push plate is used to push the detected qualified crankshafts into the qualified product box.

2. The automatic detection system for crankshaft balancing block based on visual measurement according to claim 1 is characterized in that: The guide plate group includes a first guide plate group and a second guide plate group distributed front and back along the conveying direction of the conveyor belt. The first guide plate group and the second guide plate group both include a front guide side plate and a rear guide side plate. The middle part of the front guide side plate and the middle part of the rear guide side plate are provided with a relatively arranged and gradually closing oblique section.

3. The automatic detection system for crankshaft balancing block based on visual measurement according to claim 2 is characterized in that: The positioning push plate mechanism includes a first push plate mechanism and a second push plate mechanism distributed front and back along the conveying direction of the conveyor belt, the first push plate mechanism is located at the exit position of the first guide plate group, and the second push plate mechanism is located at the exit position of the second guide plate group, the first push plate mechanism and the second push plate mechanism both include a front push plate, a rear push plate, a front push cylinder and a rear push cylinder, and the front push plate and the rear push plate jointly clamp the crankshaft shaft for positioning.

4. The automatic detection system for crankshaft balancing block based on visual measurement according to claim 1 is characterized in that: The first grasping mechanism and the second grasping mechanism both include a mounting connection plate and two clamping jaw mechanisms arranged on the left and right, the clamping jaw mechanism includes a linear drive cylinder, a hexagonal bracket, a left clamping jaw, a right clamping jaw, a left first connecting rod, a left second connecting rod, a left third connecting rod, a right first connecting rod, a right second connecting rod, a right third connecting rod and a linkage block, the cylinder seat of the linear drive cylinder is fixedly mounted on the mounting connection plate, the hexagonal bracket is connected to the cylinder seat of the linear drive cylinder, the middle part of the linkage block is connected to the telescopic rod of the linear drive cylinder, one end of the left first connecting rod is hinged to the left end of the linkage block, and the right first One end of the connecting rod is hinged to the right end of the linkage block, the other end of the left first connecting rod is hinged to one end of the left second connecting rod, the other end of the right first connecting rod is hinged to one end of the right second connecting rod, the middle part of the left second connecting rod is hinged to the left end of the hexagonal bracket, the middle part of the right second connecting rod is hinged to the right end of the hexagonal bracket, the other end of the left second connecting rod is hinged to the left clamping claw, the other end of the right second connecting rod is hinged to the right clamping claw, one end of the left third connecting rod is hinged to the hexagonal bracket, the other end of the left third connecting rod is hinged to the left clamping claw, and the other end of the right third connecting rod is hinged to the right clamping claw.

5. The automatic detection system for crankshaft balancing block based on visual measurement according to claim 1 is characterized in that: The jig includes a base plate, two V-groove plates arranged on the left and right, a positioning pin mechanism and a pressure sensor. The V-groove plate is used to support the crankshaft workpiece to be tested. The positioning pin mechanism includes a positioning pin and a lifting drive mechanism. The positioning pin is used to position the crankshaft workpiece to be tested. The pressure sensor is used to detect whether the crankshaft to be tested is placed on the jig.

6. The automatic detection system for crankshaft balancing block based on visual measurement according to claim 5 is characterized in that: There are three industrial cameras, which are respectively located directly above the left-end balancing block, the right-end balancing block and the middle balancing block group of the crankshaft to be tested on the testing station.

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