Crankshaft angular positioning detection method and system

Abstract

The invention provides a crankshaft angular positioning detection method and system, and the method comprises the steps: firstly fixing a crankshaft workpiece on an angular positioning tool module, and adjusting a detection probe module to a preset eccentric surface measurement height through a detection position control module; and then, the concentric shaft of the crankshaft workpiece serves as a rotating shaft, the workpiece is rotated by a set angle in the preset direction, and meanwhile the eccentric face is continuously measured through the detection probe module to obtain distance data. And the system determines the current orientation angle of the workpiece according to the measured eccentric surface distance data and preset eccentric surface distance angle data, compares the current orientation angle with a preset process positioning angle, and calculates the orientation angle difference. And finally, the crankshaft workpiece is rotationally adjusted through the angular positioning tool module till the orientation angle difference is smaller than a preset angle tolerance threshold value. The maximum value and the minimum value can be determined through the standard distance data of the eccentric surface obtained in the calibration process, and a clear reference mark is provided for detection.

Description

Technical Field

[0001] The present application relates to the field of automated machining, and in particular to a crankshaft angular positioning detection method and system. Background Art

[0002] Crankshaft angular positioning detection refers to a detection method for accurately positioning the eccentric surface of the crankshaft during the processing. This detection is of great significance for realizing automated production and ensuring processing accuracy.

[0003] At present, the common crankshaft angular positioning detection methods in industrial production mainly include mechanical stylus detection, photoelectric detection and laser scanning detection. Among them, the mechanical stylus detection method uses the stylus to contact the crankshaft surface, and captures the highest or lowest point of the eccentric surface relative to the concentric shaft part during the rotation of the workpiece to determine the angular position. This method is simple to operate, relatively low in cost, and the detection results are relatively reliable.

[0004] However, the existing mechanical stylus detection method has some significant technical defects. First, the workpiece usually needs to rotate a full circle during the detection process to determine the highest or lowest point, which increases the detection time and reduces production efficiency. Secondly, for crankshafts of different specifications, the position and size of their eccentric surfaces are different, and the position of the detection device needs to be adjusted frequently, which not only increases the debugging time, but also easily introduces human errors. Summary of the invention

[0005] The present application provides a crankshaft angular positioning detection method, comprising the following steps:

[0006] A1, fix the preset crankshaft workpiece in the preset angular positioning tooling module;

[0007] A2, adjusting the height of the preset detection probe module to the preset eccentric surface measurement height through the preset detection position control module;

[0008] A3, using the angular positioning tooling module to rotate the crankshaft workpiece in a preset detection rotation direction with the concentric axis of the crankshaft workpiece as the rotation axis through a preset detection angle value;

[0009] A4, when the crankshaft workpiece rotates, the eccentric surface of the crankshaft workpiece is continuously measured by the detection probe module to obtain eccentric surface distance data;

[0010] A5, determining the current orientation angle of the crankshaft workpiece according to the eccentric surface distance data and preset eccentric surface distance angle comparison data;

[0011] A6, calculating the corresponding orientation angle difference according to the current orientation angle of the workpiece and the preset process positioning angle;

[0012] A7, rotating and adjusting the crankshaft workpiece through the angular positioning tooling module so that the corresponding orientation angle difference is less than a preset angle tolerance threshold.

[0013] By adopting the above technical scheme, the crankshaft angular positioning detection method can determine the maximum and minimum values ​​of the standard distance of the eccentric surface through the standard distance data of the eccentric surface obtained during the calibration process, providing a clear reference standard for subsequent detection. It can also be used to determine whether the workpiece being measured meets the size requirements, which helps to timely discover processing anomalies and quality problems.

[0014] Optionally, the crankshaft angular positioning detection method further comprises the following steps: determining the eccentric surface distance angle comparison data:

[0015] B1, fixing a preset crankshaft standard sample on the angular positioning tooling module;

[0016] B2, using the angular positioning tooling module to rotate the crankshaft standard sample uniformly for one circle at a preset calibration speed and in the detection rotation direction, and obtain the corresponding rotation start time and rotation end time;

[0017] B3, when the crankshaft standard sample rotates, the eccentric surface of the crankshaft standard sample is continuously measured by the detection probe module to obtain the eccentric surface standard distance data;

[0018] B4, calculating the corresponding rotation time window according to the rotation start time and the rotation end time;

[0019] B5, dividing the rotation time window according to the preset sampling interval to obtain the corresponding rotation moments and combining them to generate a rotation moment sequence;

[0020] B6, calculating the cumulative rotation angle corresponding to each rotation moment according to the rotation moment sequence and the calibrated rotation speed;

[0021] B7, determining the standard distance of the eccentric surface corresponding to each rotation moment according to the rotation moment sequence and the standard distance data of the eccentric surface;

[0022] B8, combining the cumulative rotation angle corresponding to each rotation moment and the standard distance of the eccentric surface to generate preliminary comparison data of distance and angle;

[0023] B9, determine the rotation cumulative angle corresponding to the eccentric surface standard distance with the smallest value in the distance angle preliminary comparison data and define it as the initial point measurement angle value;

[0024] B10, calculating the adjustment angle value by taking the difference between the angle value measured at the initial point and the preset initial angle value;

[0025] B11, subtracting the adjustment angle value from the cumulative rotation angle at all rotation moments in the preliminary distance angle comparison data to generate eccentric surface distance angle comparison data.

[0026] By adopting the above technical scheme, the crankshaft angular positioning detection method can perform static measurement before rotation measurement and compare it with the predetermined maximum and minimum values, so as to quickly determine whether the workpiece is at the extreme position. When the workpiece is at the maximum or minimum distance position, its orientation angle can be directly determined without the need for a complete rotation measurement process, thereby improving detection efficiency and reducing unnecessary rotation measurement time, especially in mass production, which can greatly improve production efficiency.

[0027] Optionally, the crankshaft angular positioning detection method further comprises the following steps for determining the minimum distance between the workpieces and the maximum distance between the workpieces:

[0028] B12, determine the minimum value in the standard distance data of the eccentric surface and define it as the minimum distance of the workpiece;

[0029] B13, determine the maximum value in the eccentric surface standard distance data and define it as the maximum distance of the workpiece.

[0030] By adopting the above technical scheme, the crankshaft angular positioning detection method can determine the maximum and minimum values ​​of the standard distance of the eccentric surface through the standard distance data of the eccentric surface obtained during the calibration process, providing a clear reference standard for subsequent detection. It can also be used to determine whether the workpiece being measured meets the size requirements, which helps to timely discover processing anomalies and quality problems.

[0031] Optionally, the crankshaft angular positioning detection method further comprises the following steps between step A2 and step A3:

[0032] C1, in a stationary state, measuring the eccentric surface of the crankshaft workpiece by the detection probe module to obtain a current distance value of the eccentric surface;

[0033] C2, if the difference between the current distance value of the eccentric surface and the minimum distance of the workpiece is less than the preset distance tolerance threshold, the initial point measurement angle value is defined as the current orientation angle of the workpiece and jump to step A6;

[0034] C3, if the difference between the current distance value of the eccentric surface and the maximum distance of the workpiece is less than the distance tolerance threshold, the preset maximum point measurement angle value is defined as the current orientation angle of the workpiece and jump to step A6.

[0035] By adopting the above technical scheme, the crankshaft angular positioning detection method can perform static measurement before rotation measurement and compare it with the predetermined maximum and minimum values, so as to quickly determine whether the workpiece is at the extreme position. When the workpiece is at the maximum or minimum distance position, its orientation angle can be directly determined without the need for a complete rotation measurement process, thereby improving detection efficiency and reducing unnecessary rotation measurement time, especially in mass production, which can greatly improve production efficiency.

[0036] Optionally, the step A4 includes the following steps:

[0037] A401, when the crankshaft workpiece rotates, continuously measuring the eccentric surface of the crankshaft workpiece by the detection probe module to obtain a current distance value of the eccentric surface;

[0038] A402, if the current distance value of the eccentric surface is not equal to the minimum distance of the workpiece or the maximum distance of the workpiece, then the current distance value of the eccentric surface is added to the eccentric surface distance data in sequence;

[0039] A403, if the current distance value of the eccentric surface is equal to the minimum distance of the workpiece or the maximum distance of the workpiece, the current distance value of the eccentric surface is added to the preset eccentric surface distance data in sequence, and the rotation of the angular positioning tooling module is stopped.

[0040] By adopting the above technical solution, the crankshaft angular positioning detection method can realize intelligent data collection and rotation control by real-time monitoring of the eccentric surface distance value and comparing it with the preset maximum and minimum distances. When the extreme point is detected, the system will automatically stop rotating to avoid unnecessary continued measurement, thereby ensuring the integrity of the data and optimizing the detection efficiency. The dynamic monitoring and control method not only ensures the accuracy and reliability of the detection, but also further reduces the time consumed in measurement and improves production efficiency.

[0041] Optionally, step A5 includes the following steps:

[0042] A501, generating a corresponding eccentric surface distance angle curve according to the eccentric surface distance angle comparison data;

[0043] A502, generating a corresponding eccentric surface measurement curve according to the eccentric surface distance data;

[0044] A503, matching the eccentric surface measurement curve on the eccentric surface distance angle curve;

[0045] A504, according to the last sample value in the eccentric surface distance data and the eccentric surface distance angle curve, determines the corresponding angle value and defines it as the current orientation angle of the workpiece.

[0046] By adopting the above technical scheme, the crankshaft angular positioning detection method can achieve the determination of the current orientation angle of the workpiece by establishing a distance-angle curve and performing curve matching. By matching the measurement curve generated by the actual measured data with the standard reference curve, and using the value of the last measurement point to determine the orientation angle, the accuracy of the angle determination is guaranteed and all the collected data is fully utilized. This angle determination method based on curve matching is more reliable than single-point measurement, can effectively avoid the influence of measurement noise and interference, and improves positioning accuracy.

[0047] Optionally, the step A503 further includes the following steps:

[0048] A5031, draw the eccentric surface distance angle curve and eccentric surface measurement curve in the preset Cartesian coordinate system with angle as x-axis and eccentric surface distance as y-axis;

[0049] A5032, moving the eccentric surface along the x-axis in the Cartesian coordinate system to measure the curve;

[0050] A5033, when the eccentric surface measurement curve moves, the curve segment corresponding to the eccentric surface measurement curve is intercepted from the eccentric surface distance angle curve and defined as the comparison curve;

[0051] A5034, obtaining corresponding comparison curve data according to the comparison curve and the eccentric surface distance angle comparison data;

[0052] A5035, calculate the corresponding correlation coefficient based on the comparison curve data and the eccentric surface distance data;

[0053] A5036, when the correlation coefficient is greater than the preset matching threshold, it is determined that the eccentric surface distance angle curve and the eccentric surface measurement curve are matched successfully.

[0054] By adopting the above technical solution, the crankshaft angular positioning detection method can achieve more accurate curve matching by performing curve movement and correlation analysis in a Cartesian coordinate system. By moving the measurement curve and calculating the correlation coefficient, the system can automatically find the best matching position and ensure the reliability of the matching through a preset matching threshold. This not only improves the accuracy of the angle positioning, but also can effectively deal with the noise and errors in the measurement process, making the entire detection process more stable and reliable.

[0055] The present application also provides a crankshaft angular positioning detection system, comprising:

[0056] Angular positioning tooling module;

[0057] Detection position control module;

[0058] Detection probe module;

[0059] Control processing module;

[0060] Wherein, the angular positioning tooling module, the detection position control module and the detection probe module are respectively data-connected to the control processing module;

[0061] Wherein, the angular positioning tooling module comprises a fixture module and a rotation module, the fixture module is connected to the rotation module, and the rotation module data is connected to the control processing module;

[0062] Wherein, the detection probe module includes a telescopic probe and a distance measuring module, the distance measuring module is connected to the telescopic probe, and the distance measuring module data is connected to the control processing module;

[0063] Wherein, the crankshaft angular positioning detection system further includes a workpiece angular positioning strategy, comprising the following steps:

[0064] D1, fixing a preset crankshaft workpiece in the angular positioning tooling module;

[0065] D2, adjusting the height of the detection probe module to a preset eccentric surface measurement height through the detection position control module;

[0066] D3, using the angular positioning tooling module to rotate the crankshaft workpiece in a preset detection rotation direction with the concentric axis of the crankshaft workpiece as the rotation axis through a preset detection angle value;

[0067] D4, when the crankshaft workpiece rotates, measuring the eccentric surface of the crankshaft workpiece by the detection probe module to obtain eccentric surface distance data;

[0068] D5, determining the current orientation angle of the crankshaft workpiece according to the eccentric surface distance data and preset eccentric surface distance angle comparison data;

[0069] D6, calculating the corresponding orientation angle difference according to the current orientation angle of the workpiece and the preset process positioning angle;

[0070] D7, rotating and adjusting the crankshaft workpiece through the angular positioning tooling module so that the corresponding orientation angle difference is less than a preset angle tolerance threshold.

[0071] By adopting the above technical solution, the crankshaft angular positioning detection system can realize the automatic detection and adjustment of the angular position of the crankshaft workpiece through the angular positioning tooling module and the detection probe module. By continuously measuring the eccentric surface distance data and comparing it with the preset data, the system can accurately calculate the current orientation angle of the workpiece and automatically adjust it to the required process positioning angle to ensure that the angle error is within the allowable range. This not only improves the positioning accuracy and efficiency, but also avoids the errors caused by manual operation.

[0072] In summary, the present application includes at least one of the following beneficial technical effects:

[0073] 1. The angular positioning tooling module and the detection probe module can be used to realize the automatic detection and adjustment of the angular position of the crankshaft workpiece. By continuously measuring the eccentric surface distance data and comparing it with the preset data, the system can accurately calculate the current orientation angle of the workpiece and automatically adjust it to the required process positioning angle to ensure that the angle error is within the allowable range. This not only improves the positioning accuracy and efficiency, but also avoids the errors caused by manual operation.

[0074] 2. The correspondence between the eccentric surface distance and the angle can be established by adopting the method of uniform rotation measurement, combining time recording and angle calculation. By determining the minimum distance point as the benchmark and adjusting the calculation of the angle value, the standardization and calibration of the angle data are achieved, which not only improves the accuracy and reliability of subsequent detection, but also provides a unified reference standard for the detection of crank shafts of different specifications.

[0075] 3. The maximum and minimum values ​​of the eccentric surface standard distance can be determined through the eccentric surface standard distance data obtained during the calibration process, which provides a clear reference standard for subsequent inspections. It can also be used to determine whether the workpiece being tested meets the size requirements, which helps to promptly discover processing anomalies and quality problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 It is a process schematic diagram of a crankshaft angular positioning detection method of the present invention.

[0077] Figure 2 It is a schematic diagram of the principle of a crankshaft angular positioning detection system of the present invention.

[0078] Figure 3 It is a structural schematic diagram of a crankshaft angular positioning detection system of the present invention.

[0079] Figure 4 It is a perspective schematic diagram of an example of a crankshaft. DETAILED DESCRIPTION

[0080] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0081] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0082] refer to Figures 1 to 4The present invention provides a crankshaft angular positioning detection method, which is used for accurately angular positioning of the crankshaft during loading and unloading of products, so as to realize accurate loading and unloading of robots, and includes the following steps:

[0083] A1, fix the preset crankshaft workpiece in the preset angular positioning tooling module 10;

[0084] The angular positioning tooling module 10 is used to fix and rotate the crankshaft workpiece that needs to be angularly positioned;

[0085] The crankshaft workpiece is a crankshaft that needs to be angularly positioned.

[0086] A2, adjusting the height of the preset detection probe module 30 to the preset eccentric surface measurement height through the preset detection position control module 20;

[0087] The detection position control module 20 is mainly used to adjust the height of the detection probe module 30 so that it matches the height of the eccentric surface of the crankshaft workpiece to measure the distance of the eccentric surface;

[0088] The eccentric surface measurement height is the height at which the eccentric surface of the crankshaft workpiece is measured, and can be set according to the structure or model of the crankshaft workpiece.

[0089] A3, using the angular positioning tooling module 10 to rotate the crankshaft workpiece in a preset detection rotation direction with the concentric axis of the crankshaft workpiece as the rotation axis through a preset detection angle value;

[0090] The detection rotation direction is the preset direction in which the angular positioning tooling module 10 drives the crankshaft workpiece to rotate, which can be clockwise or counterclockwise;

[0091] The detection angle value is a preset angle value, which is used to determine the rotation angle value of the angular positioning tooling module 10, that is, the rotation angle value of the crankshaft workpiece.

[0092] A4, when the crankshaft workpiece rotates, the eccentric surface of the crankshaft workpiece is continuously measured by the detection probe module 30 to obtain eccentric surface distance data;

[0093] The eccentric surface distance data is a data set of eccentric surface distance values ​​obtained by continuous measurement when the crankshaft workpiece rotates. The eccentric surface distance data may be data based on time or data based on a rotation angle.

[0094] A5, determining the current orientation angle of the crankshaft workpiece according to the eccentric surface distance data and preset eccentric surface distance angle comparison data;

[0095] The eccentric surface distance angle comparison data is the comparison data of the angle and eccentric surface determined by measuring the standard sample of the crankshaft workpiece in advance;

[0096] The current orientation angle of the workpiece is the current orientation angle of the crankshaft workpiece, which can be determined by comparing the eccentric surface distance data and the eccentric surface distance angle comparison data.

[0097] A6, calculating the corresponding orientation angle difference according to the current orientation angle of the workpiece and the preset process positioning angle;

[0098] The process positioning angle is the pre-set orientation angle of the crankshaft workpiece to standardize the material transfer action of the next process. Especially in the automated processing involving manipulators and robots, the posture and orientation angle of the workpiece affect the processing quality of the entire process.

[0099] The process positioning angle can be set according to the overall processing technology or workpiece characteristics;

[0100] The orientation angle difference is the angle difference between the current orientation angle of the workpiece and the process positioning angle.

[0101] A7, rotating and adjusting the crankshaft workpiece by the angular positioning tooling module 10 so that the corresponding orientation angle difference is less than a preset angle tolerance threshold;

[0102] The angle tolerance threshold is a preset tolerance value used to determine whether the orientation of the crankshaft workpiece is aligned with the process positioning angle;

[0103] When the orientation angle difference is less than the angle tolerance threshold, it can be determined that the orientation of the crankshaft workpiece is aligned with the process positioning angle. The angle tolerance threshold can be set according to the precision requirements of the machining process. Too small an angle tolerance threshold will affect the machining efficiency to a certain extent, while too large an angle tolerance threshold will affect the machining quality to a certain extent.

[0104] Through the above steps, the crankshaft angular positioning detection method can realize the automatic detection and adjustment of the angular position of the crankshaft workpiece through the angular positioning tooling module and the detection probe module. By continuously measuring the eccentric surface distance data and comparing it with the preset data, the system can accurately calculate the current orientation angle of the workpiece and automatically adjust it to the required process positioning angle to ensure that the angle error is within the allowable range. This not only improves the positioning accuracy and efficiency, but also avoids the errors caused by manual operation.

[0105] Furthermore, the crankshaft angular positioning detection method further comprises the following steps of determining the eccentric surface distance angle comparison data:

[0106] B1, fixing a preset crankshaft standard sample in the angular positioning tooling module 10;

[0107] The crankshaft standard sample is the standard part corresponding to the crankshaft workpiece, which is used to measure the center-to-face distance angle comparison data.

[0108] B2, using the angular positioning tooling module 10 to uniformly rotate the crankshaft standard sample for one circle at a preset calibration speed and in the detection rotation direction, and obtain the corresponding rotation start time and rotation end time;

[0109] The calibration speed is a preset fixed speed, which is used to fix the speed of the crankshaft standard sample when measuring the center-to-plane distance angle comparison data;

[0110] The rotation start time is the start time of the angular positioning tooling module 10 rotating the crankshaft standard sample;

[0111] The rotation termination time is the termination time of the rotation of the crankshaft standard sample by the angular positioning fixture module 10;

[0112] The crankshaft standard sample is rotated at a constant speed for one revolution, that is, it is rotated at a constant speed of 360°.

[0113] B3, when the crankshaft standard sample rotates, the eccentric surface of the crankshaft standard sample is continuously measured by the detection probe module 30 to obtain the eccentric surface standard distance data;

[0114] The eccentric surface standard distance data is a data set of eccentric surface distance values ​​measured when the crankshaft standard sample rotates one circle, and can be data based on time or data based on rotation angle.

[0115] B4, calculating the corresponding rotation time window according to the rotation start time and the rotation end time;

[0116] The rotation time window is the time window from the start time of rotation to the end time of rotation.

[0117] B5, dividing the rotation time window according to the preset sampling interval to obtain the corresponding rotation moments and combining them to generate a rotation moment sequence;

[0118] The sampling interval is a pre-set time interval used to determine the frequency and time interval of acquiring data;

[0119] The rotation time is the corresponding time determined according to the sampling interval in the rotation time window;

[0120] The rotation time sequence is a data sequence determined by arranging the rotation times in chronological order.

[0121] B6, calculating the cumulative rotation angle corresponding to each rotation moment according to the rotation moment sequence and the calibrated rotation speed;

[0122] The cumulative rotation angle is the angle value of the crankshaft standard sample from the start of rotation to the rotation moment at each rotation moment;

[0123] The rotation time corresponding to the rotation time can be determined by the rotation time and the rotation start time, and the corresponding cumulative rotation angle can be calculated according to the rotation time and the calibrated rotation speed.

[0124] B7, determining the standard distance of the eccentric surface corresponding to each rotation moment according to the rotation moment sequence and the standard distance data of the eccentric surface;

[0125] The eccentric surface standard distance is the corresponding eccentric surface distance in the eccentric surface standard distance data at each rotation moment in the rotation moment sequence.

[0126] B8, combining the cumulative rotation angle corresponding to each rotation moment and the standard distance of the eccentric surface to generate preliminary comparison data of distance and angle;

[0127] The preliminary comparison data of the distance angle is the combined data of the cumulative rotation angle corresponding to each rotation moment and the corresponding eccentric surface standard distance.

[0128] B9, determine the rotation cumulative angle corresponding to the eccentric surface standard distance with the smallest value in the distance angle preliminary comparison data and define it as the initial point measurement angle value;

[0129] The angle value measured at the initial point is the cumulative rotation angle corresponding to the minimum distance of the eccentric surface of the crankshaft standard sample.

[0130] B10, calculating the adjustment angle value by taking the difference between the angle value measured at the initial point and the preset initial angle value;

[0131] The initial angle value is a preset angle value, which is used to set the default angle corresponding to the minimum distance of the eccentric surface of the crankshaft standard sample. For example, the initial angle value can be set to 0°, which serves as a zero value point;

[0132] The adjustment angle value is the angle value that needs to be adjusted for the rotation cumulative angle corresponding to the standard distance of each eccentric surface in the preliminary comparison data of the distance angle.

[0133] B11, subtracting the adjustment angle value from the cumulative rotation angle at all rotation moments in the distance angle preliminary comparison data to generate eccentric surface distance angle comparison data;

[0134] Because when measuring the eccentric surface distance angle comparison data, it is impossible to align the crankshaft standard sample accurately when placing it, so after the measurement, it is necessary to adjust the cumulative rotation angle corresponding to each eccentric surface distance value for subsequent comparison;

[0135] For example, during the measurement, the cumulative rotation angle corresponding to the minimum distance of the eccentric surface is measured to be 30°, and the set initial angle value is 0°. It is necessary to subtract 30° from the cumulative rotation angles corresponding to all eccentric surface distances, that is, the difference between 30° and 0°, so that the angle at the minimum distance of the eccentric surface is 0°, and the angle at the maximum distance of the eccentric surface is 180°, so that the eccentric surface distance angle comparison data is easy to use and compare.

[0136] Through the above steps, the crank shaft angular positioning detection method can establish the correspondence between the eccentric surface distance and the angle by adopting the uniform rotation measurement method, combining time recording and angle calculation, and realizes the standardization and calibration of the angle data by determining the minimum distance point as the benchmark and adjusting the calculation of the angle value, which not only improves the accuracy and reliability of subsequent detection, but also provides a unified reference standard for the detection of crank shafts of different specifications.

[0137] Furthermore, the crankshaft angular positioning detection method further includes the following steps for determining the minimum distance between the workpieces and the maximum distance between the workpieces:

[0138] B12, determine the minimum value in the standard distance data of the eccentric surface and define it as the minimum distance of the workpiece;

[0139] B13, determine the maximum value in the eccentric surface standard distance data and define it as the maximum distance of the workpiece.

[0140] Through the above steps, the crankshaft angular positioning detection method can determine the maximum and minimum values ​​of the eccentric surface standard distance through the eccentric surface standard distance data obtained during the calibration process, providing a clear reference standard for subsequent detection, and can also be used to determine whether the workpiece being tested meets the size requirements, which helps to promptly discover processing anomalies and quality problems.

[0141] Furthermore, the crankshaft angular positioning detection method further comprises the following steps between step A2 and step A3:

[0142] C1, in a stationary state, the eccentric surface of the crankshaft workpiece is measured by the detection probe module 30 to obtain a current distance value of the eccentric surface;

[0143] The current distance value of the eccentric surface is the distance value obtained by the detection probe module 30 measuring the eccentric surface of the crank shaft workpiece at the current moment.

[0144] C2, if the difference between the current distance value of the eccentric surface and the minimum distance of the workpiece is less than the preset distance tolerance threshold, the initial point measurement angle value is defined as the current orientation angle of the workpiece and jump to step A6;

[0145] The distance tolerance threshold is a preset reference value used to determine whether the current distance value of the eccentric surface is close to the minimum distance of the workpiece. The distance tolerance threshold can be set according to different accuracy requirements;

[0146] When the current distance value of the eccentric surface is nearly equal to the minimum distance of the workpiece, the current angular orientation of the crankshaft workpiece can be directly determined and adjustments can be made. Since there is only one minimum distance point on the eccentric surface of the crankshaft workpiece, some subsequent steps can be skipped to improve generation efficiency.

[0147] C3, if the difference between the current distance value of the eccentric surface and the maximum distance of the workpiece is less than the distance tolerance threshold, the preset maximum point measurement angle value is defined as the current orientation angle of the workpiece and jump to step A6;

[0148] The maximum point measurement angle value is an angle value corresponding to a preset maximum distance of the workpiece. For example, the maximum point measurement angle value is set to 180°, that is, the angle at the maximum distance of the eccentric surface is 180°.

[0149] When the current distance value of the eccentric surface is close to the maximum distance of the workpiece, the current angle orientation of the crankshaft workpiece can be directly determined, and adjustments can be made. Since the eccentric surface of the crankshaft workpiece has only one maximum distance point, some subsequent steps can be skipped to improve generation efficiency.

[0150] Through the above steps, the crankshaft angular positioning detection method can perform static measurement before rotation measurement and compare it with the predetermined maximum and minimum values, so as to quickly determine whether the workpiece is at the extreme position. When the workpiece is at the maximum or minimum distance position, its orientation angle can be directly determined without the need for a complete rotation measurement process, which can improve detection efficiency and reduce unnecessary rotation measurement time, especially in mass production, which can greatly improve production efficiency.

[0151] Furthermore, the step A4 comprises the following steps:

[0152] A401, when the crankshaft workpiece rotates, continuously measuring the eccentric surface of the crankshaft workpiece by the detection probe module 30 to obtain a current distance value of the eccentric surface;

[0153] The current distance value of the eccentric surface is the eccentric surface distance value corresponding to the current moment.

[0154] A402, if the current distance value of the eccentric surface is not equal to the minimum distance of the workpiece or the maximum distance of the workpiece, then the current distance value of the eccentric surface is added to the eccentric surface distance data in sequence;

[0155] The preset value of the eccentric surface distance data may be an empty set, and data is generated by sequentially adding the current distance values ​​of the eccentric surface at each moment.

[0156] A403, if the current distance value of the eccentric surface is equal to the minimum distance of the workpiece or the maximum distance of the workpiece, the current distance value of the eccentric surface is added to the eccentric surface distance data in sequence, and the rotation of the angular positioning tooling module 10 is stopped.

[0157] When the current distance value of the eccentric surface is equal to the minimum distance or the maximum distance of the workpiece, it means that the crankshaft workpiece has rotated to the extreme point, and its current orientation angle can be directly determined without further rotation measurement, so the rotation of the angular positioning tooling module 10 can be stopped.

[0158] Through the above steps, the crankshaft angular positioning detection method can realize intelligent data collection and rotation control by real-time monitoring of the eccentric surface distance value and comparing it with the preset maximum and minimum distances. When the extreme point is detected, the system will automatically stop rotating to avoid unnecessary continued measurement, thereby ensuring the integrity of the data and optimizing the detection efficiency. The dynamic monitoring and control method not only ensures the accuracy and reliability of the detection, but also further reduces the time consumed in the measurement and improves the production efficiency.

[0159] Furthermore, the step A5 comprises the following steps:

[0160] A501, generating a corresponding eccentric surface distance angle curve according to the eccentric surface distance angle comparison data;

[0161] The eccentric surface distance angle curve is a graphical curve drawn according to the eccentric surface distance angle comparison data, and can be drawn in a coordinate system.

[0162] A502, generating a corresponding eccentric surface measurement curve according to the eccentric surface distance data;

[0163] The eccentric surface measurement curve is a graphical curve drawn according to the eccentric surface distance data and can be drawn in a coordinate system.

[0164] A503, matching the eccentric surface measurement curve on the eccentric surface distance angle curve;

[0165] Try to match the eccentricity measurement curve with the eccentricity distance angle curve and find the best matching position;

[0166] The eccentric surface measurement curve can be matched by a variety of methods, for example, the curve feature matching method, extracting the key feature points of the two curves (such as peak values, valley values, inflection points, etc.), calculating the relative distance and amplitude relationship between the feature points, and determining the overall matching position through the corresponding relationship of the feature points;

[0167] Correlation analysis method: slide the second curve on the first curve, and calculate the correlation coefficient of the two curves at each position. The position with the largest correlation coefficient is most likely to be the correct matching position;

[0168] Least squares method: Similar to correlation analysis, but it calculates the mean square error of two curve segments, calculates the error at different positions, and selects the position with the smallest error.

[0169] A504, according to the last sample value in the eccentric surface distance data and the eccentric surface distance angle curve, the corresponding angle value is determined and defined as the current orientation angle of the workpiece;

[0170] The last sample value in the eccentric surface distance data is the eccentric surface distance measured when the last rotation stops. According to the last eccentric surface distance value, the corresponding angle value can be determined in the matching curve segment.

[0171] Except for the two extreme points of the maximum and minimum eccentric distances, the eccentric distances at other positions on the eccentric surface correspond to two orientation angles. If they are not distinguished, the exact orientation angle of the crankshaft workpiece cannot be accurately known. Therefore, further data matching is required to determine its orientation angle.

[0172] Through the above steps, the crankshaft angular positioning detection method can achieve the determination of the current orientation angle of the workpiece by establishing a distance-angle curve and performing curve matching. By matching the measurement curve generated by the actual measured data with the standard reference curve, and using the value of the last measurement point to determine the orientation angle, the accuracy of the angle determination is guaranteed and all the collected data is fully utilized. This angle determination method based on curve matching is more reliable than single-point measurement, can effectively avoid the influence of measurement noise and interference, and improves positioning accuracy.

[0173] Furthermore, the step A503 further includes the following steps:

[0174] A5031, draw the eccentric surface distance angle curve and eccentric surface measurement curve in the preset Cartesian coordinate system with angle as x-axis and eccentric surface distance as y-axis;

[0175] In a coordinate system with the angle as the x-axis and the eccentric surface distance as the y-axis, the eccentric surface distance angle curve and the eccentric surface measurement curve are respectively drawn.

[0176] A5032, moving the eccentric surface along the x-axis in the Cartesian coordinate system to measure the curve;

[0177] Move the eccentricity measurement curve horizontally and try to make it match and coincide with the eccentricity distance angle curve.

[0178] A5033, when the eccentric surface measurement curve moves, the curve segment corresponding to the eccentric surface measurement curve is intercepted from the eccentric surface distance angle curve and defined as the comparison curve;

[0179] The comparison curve is a partial curve intercepted by the span range of the eccentric surface measurement curve on the x-axis on the eccentric surface distance angle curve during movement.

[0180] A5034, obtaining corresponding comparison curve data according to the comparison curve and the eccentric surface distance angle comparison data;

[0181] The comparison curve data is the corresponding data of the comparison curve in the eccentric surface distance angle comparison data.

[0182] A5035, calculate the corresponding correlation coefficient based on the comparison curve data and the eccentric surface distance data;

[0183] The correlation coefficient may be a Pearson correlation coefficient, which reflects the correlation between the comparison curve data and the eccentric surface distance data, that is, reflects the matching degree. When the two are completely matched, the correlation coefficient should be very close to 1.

[0184] A5036, when the correlation coefficient is greater than the preset matching threshold, it is determined that the eccentricity distance angle curve and the eccentricity measurement curve are matched successfully.

[0185] The matching threshold is a pre-selected reference value used to determine whether a complete match has been achieved. The matching threshold can be set based on the accuracy requirements or experience of angular positioning. For example, the matching threshold can be set to 0.95, 0.98, 0.99, etc.

[0186] Through the above steps, the crank shaft angular positioning detection method can achieve more accurate curve matching by performing curve movement and correlation analysis in a Cartesian coordinate system. By moving the measurement curve and calculating the correlation coefficient, the system can automatically find the best matching position and ensure the reliability of the matching through a preset matching threshold. It not only improves the accuracy of angle positioning, but also can effectively deal with noise and errors in the measurement process, making the entire detection process more stable and reliable.

[0187] The present application also provides a crankshaft angular positioning detection system, comprising:

[0188] Angular positioning tooling module 10;

[0189] Detection position control module 20;

[0190] Detection probe module 30;

[0191] Control processing module 40;

[0192] The angular positioning tooling module 10, the detection position control module 20 and the detection probe module 30 are respectively data-connected to the control processing module 40;

[0193] The angular positioning tooling module 10 includes a fixture module 11 and a rotation module 12, the fixture module 11 is connected to the rotation module 12, and the rotation module 12 is data-connected to the control processing module 40;

[0194] The detection probe module 30 includes a telescopic probe 31 and a distance measuring module 32, the distance measuring module 32 is connected to the telescopic probe 31, and the distance measuring module 32 is data-connected to the control processing module 40;

[0195] The angular positioning tooling module 10 is mainly used to fix and rotate a crankshaft workpiece that needs to be angularly positioned.

[0196] The fixture module 11 is mainly used to clamp and fix the crankshaft workpiece.

[0197] The rotating module 12 is mainly used to rotate the fixture module 11 to rotate the crankshaft workpiece.

[0198] The detection position control module 20 is mainly used to raise and lower the height of the detection probe module 30 so that it matches the height of the eccentric surface of the crankshaft workpiece to measure the distance of the eccentric surface.

[0199] The detection probe module 30 is mainly used to measure the distance value of the eccentric surface of the crankshaft workpiece.

[0200] The telescopic measuring needle 31 is mainly used to contact the eccentric surface of the crankshaft workpiece and to adaptively telescope.

[0201] The distance measuring module 32 is mainly used to measure the distance value of the corresponding eccentric surface according to the extension and retraction of the retractable stylus 31 .

[0202] The control processing module 40 is mainly used for data processing and controlling each module.

[0203] Wherein, the crankshaft angular positioning detection system further includes a workpiece angular positioning strategy, comprising the following steps:

[0204] D1, fixing a preset crankshaft workpiece in the angular positioning tooling module 10;

[0205] D2, adjusting the height of the detection probe module 30 to a preset eccentric surface measurement height through the detection position control module 20;

[0206] D3, using the angular positioning tooling module 10 to rotate the crankshaft workpiece in a preset detection rotation direction with the concentric axis of the crankshaft workpiece as the rotation axis through a preset detection angle value;

[0207] D4, when the crankshaft workpiece rotates, the eccentric surface of the crankshaft workpiece is measured by the detection probe module 30 to obtain eccentric surface distance data;

[0208] D5, determining the current orientation angle of the crankshaft workpiece according to the eccentric surface distance data and preset eccentric surface distance angle comparison data;

[0209] D6, calculating the corresponding orientation angle difference according to the current orientation angle of the workpiece and the preset process positioning angle;

[0210] D7, rotating and adjusting the crankshaft workpiece through the angular positioning tooling module 10 so that the corresponding orientation angle difference is less than a preset angle tolerance threshold.

[0211] Through the above technical scheme, the crank shaft angular positioning detection system can realize the automatic detection and adjustment of the angular position of the crank shaft workpiece through the angular positioning tooling module and the detection probe module. By continuously measuring the eccentric surface distance data and comparing it with the preset data, the system can accurately calculate the current orientation angle of the workpiece and automatically adjust it to the required process positioning angle to ensure that the angle error is within the allowable range. This not only improves the positioning accuracy and efficiency, but also avoids the errors caused by manual operation.

[0212] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for detecting the angular positioning of a crankshaft, characterized in that: The following steps are involved: A1, fix the preset crankshaft workpiece in the preset angular positioning tooling module; A2, adjusting the height of the preset detection probe module to the preset eccentric surface measurement height through the preset detection position control module; A3, using the angular positioning tooling module to rotate the crankshaft workpiece in a preset detection rotation direction with the concentric axis of the crankshaft workpiece as the rotation axis through a preset detection angle value; A4, when the crankshaft workpiece rotates, the eccentric surface of the crankshaft workpiece is continuously measured by the detection probe module to obtain eccentric surface distance data; A5, determining the current orientation angle of the crankshaft workpiece according to the eccentric surface distance data and preset eccentric surface distance angle comparison data; A6, calculating the corresponding orientation angle difference according to the current orientation angle of the workpiece and the preset process positioning angle; A7, rotating and adjusting the crankshaft workpiece through the angular positioning tooling module so that the corresponding orientation angle difference is less than a preset angle tolerance threshold.

2. The crankshaft angular positioning detection method according to claim 1, characterized in that: The method further comprises the following steps: determining the eccentricity distance angle comparison data; B1, fixing a preset crankshaft standard sample on the angular positioning tooling module; B2, using the angular positioning tooling module to rotate the crankshaft standard sample uniformly for one circle at a preset calibration speed and in the detection rotation direction, and obtain the corresponding rotation start time and rotation end time; B3, when the crankshaft standard sample rotates, the eccentric surface of the crankshaft standard sample is continuously measured by the detection probe module to obtain the eccentric surface standard distance data; B4, calculating the corresponding rotation time window according to the rotation start time and the rotation end time; B5, dividing the rotation time window according to the preset sampling interval to obtain the corresponding rotation moments and combining them to generate a rotation moment sequence; B6, calculating the cumulative rotation angle corresponding to each rotation moment according to the rotation moment sequence and the calibrated rotation speed; B7, determining the standard distance of the eccentric surface corresponding to each rotation moment according to the rotation moment sequence and the standard distance data of the eccentric surface; B8, combining the cumulative rotation angle corresponding to each rotation moment and the standard distance of the eccentric surface to generate preliminary comparison data of distance and angle; B9, determine the rotation cumulative angle corresponding to the eccentric surface standard distance with the smallest value in the distance angle preliminary comparison data and define it as the initial point measurement angle value; B10, calculating the adjustment angle value by taking the difference between the angle value measured at the initial point and the preset initial angle value; B11, subtracting the adjustment angle value from the cumulative rotation angle at all rotation moments in the preliminary distance angle comparison data to generate eccentric surface distance angle comparison data.

3. The crankshaft angular positioning detection method according to claim 2, characterized in that: The method further includes the following steps for determining a minimum distance between the workpiece and a maximum distance between the workpiece: B12, determine the minimum value in the standard distance data of the eccentric surface and define it as the minimum distance of the workpiece; B13, determine the maximum value in the eccentric surface standard distance data and define it as the maximum distance of the workpiece.

4. The crankshaft angular positioning detection method according to claim 3, characterized in that: The following steps are further included between step A2 and step A3: C1, in a stationary state, measuring the eccentric surface of the crankshaft workpiece by the detection probe module to obtain a current distance value of the eccentric surface; C2, if the difference between the current distance value of the eccentric surface and the minimum distance of the workpiece is less than the preset distance tolerance threshold, the initial point measurement angle value is defined as the current orientation angle of the workpiece and jump to step A6; C3, if the difference between the current distance value of the eccentric surface and the maximum distance of the workpiece is less than the distance tolerance threshold, the preset maximum point measurement angle value is defined as the current orientation angle of the workpiece and jump to step A6.

5. The crankshaft angular positioning detection method according to claim 4, characterized in that: The step A4 comprises the following steps: A401, when the crankshaft workpiece rotates, continuously measuring the eccentric surface of the crankshaft workpiece by the detection probe module to obtain a current distance value of the eccentric surface; A402, if the current distance value of the eccentric surface is not equal to the minimum distance of the workpiece or the maximum distance of the workpiece, then the current distance value of the eccentric surface is added to the eccentric surface distance data in sequence; A403, if the current distance value of the eccentric surface is equal to the minimum distance of the workpiece or the maximum distance of the workpiece, the current distance value of the eccentric surface is added to the preset eccentric surface distance data in sequence, and the rotation of the angular positioning tooling module is stopped.

6. The crankshaft angular positioning detection method according to claim 5, characterized in that: The step A5 comprises the following steps: A501, generating a corresponding eccentric surface distance angle curve according to the eccentric surface distance angle comparison data; A502, generating a corresponding eccentric surface measurement curve according to the eccentric surface distance data; A503, matching the eccentric surface measurement curve on the eccentric surface distance angle curve; A504, according to the last sample value in the eccentric surface distance data and the eccentric surface distance angle curve, determines the corresponding angle value and defines it as the current orientation angle of the workpiece.

7. The crankshaft angular positioning detection method according to claim 6, characterized in that: The step A503 further comprises the following steps: A5031, draw the eccentric surface distance angle curve and eccentric surface measurement curve in the preset Cartesian coordinate system with angle as x-axis and eccentric surface distance as y-axis; A5032, moving the eccentric surface along the x-axis in the Cartesian coordinate system to measure the curve; A5033, when the eccentric surface measurement curve moves, the curve segment corresponding to the eccentric surface measurement curve is intercepted from the eccentric surface distance angle curve and defined as the comparison curve; A5034, obtaining corresponding comparison curve data according to the comparison curve and the eccentric surface distance angle comparison data; A5035, calculate the corresponding correlation coefficient based on the comparison curve data and the eccentric surface distance data; A5036, when the correlation coefficient is greater than the preset matching threshold, it is determined that the eccentric surface distance angle curve and the eccentric surface measurement curve are matched successfully.

8. A crankshaft angular positioning detection system, characterized in that: include: Angular positioning tooling module; Detection position control module; Detection probe module; Control processing module; Wherein, the angular positioning tooling module, the detection position control module and the detection probe module are respectively data-connected to the control processing module; Wherein, the angular positioning tooling module comprises a fixture module and a rotation module, the fixture module is connected to the rotation module, and the rotation module data is connected to the control processing module; Wherein, the detection probe module includes a telescopic probe and a distance measuring module, the distance measuring module is connected to the telescopic probe, and the distance measuring module data is connected to the control processing module; Wherein, the crankshaft angular positioning detection system further includes a workpiece angular positioning strategy, comprising the following steps: D1, fixing a preset crankshaft workpiece in the angular positioning tooling module; D2, adjusting the height of the detection probe module to a preset eccentric surface measurement height through the detection position control module; D3, using the angular positioning tooling module to rotate the crankshaft workpiece in a preset detection rotation direction with the concentric axis of the crankshaft workpiece as the rotation axis through a preset detection angle value; D4, when the crankshaft workpiece rotates, measuring the eccentric surface of the crankshaft workpiece by the detection probe module to obtain eccentric surface distance data; D5, determining the current orientation angle of the crankshaft workpiece according to the eccentric surface distance data and preset eccentric surface distance angle comparison data; D6, calculating the corresponding orientation angle difference according to the current orientation angle of the workpiece and the preset process positioning angle; D7, rotating and adjusting the crankshaft workpiece through the angular positioning tooling module so that the corresponding orientation angle difference is less than a preset angle tolerance threshold.

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