Crankshaft automatic detection frame mounting machine and detection frame mounting process thereof

Abstract

The application discloses a crankshaft automatic detection frame mounting machine and a detection frame mounting process thereof, which comprises a feeding assembly, a transfer mechanical hand, a transfer correction platform, a detection platform, a detection assembly and a discharging part, and detection stations and storage stations are arranged on the machine table; the feeding assembly and the discharging part are arranged at two ends of the machine table and are respectively located at the detection stations and the storage stations; the transfer mechanical hand is arranged on one side of the feeding assembly; the transfer correction platform and the detection platform are arranged at the detection stations, the transfer correction platform is used for correcting the angle and flatness of the crankshaft; the detection platform is used for bearing the corrected crankshaft; and the detection assembly is arranged above the detection platform. The application realizes automatic and continuous feeding of the crankshaft, synchronous carrying and rotating of the crankshaft, transfer inclined guide correction of the crankshaft, carrying and detection positioning of the crankshaft, vertical insertion and clamping correction of the crankshaft, synchronous detection of rotation and linear motion, and stacking and circulating storage of the multiple material frames and feeding and discharging, realizes 360-degree detection of the crankshaft, and improves the detection and batch storage and feeding efficiency of the crankshaft.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of power transmission, in particular to a crankshaft automatic detection and framing machine and a detection and framing process thereof. BACKGROUND

[0002] The crankshaft is the most important component in the engine. It bears the force from the connecting rod and converts it into torque to drive other accessories on the engine. The crankshaft is subjected to centrifugal force of rotating mass, periodically changing gas inertia force and reciprocating inertia force, so it bears bending and torsional load. Therefore, the crankshaft requires sufficient strength and stiffness, and the journal surface needs to be wear-resistant, uniform in operation and good in balance.

[0003] In the crankshaft, the crankshaft journal is a rod-shaped structure, and the crank is connected vertically to the end of the crankshaft journal. The connecting shaft is connected to the side wall of the crank in the direction of eccentricity of the crankshaft journal. During the manufacturing process of the crankshaft, the appearance of the crankshaft needs to be detected, such as the uniformity of the outer diameter of the crankshaft journal, the perpendicularity of the crank to the crankshaft journal, the surface flatness of the crank, and the eccentricity of the connecting shaft to the crankshaft journal, so as to screen out defective products and improve the yield of the crankshaft. Based on the irregular structure of the crankshaft, the automatic detection of the crankshaft needs to be solved in the process of automated mass production, and the problem of batch storage and transfer of the detected good crankshafts needs to be solved. Therefore, a crankshaft automatic detection and framing machine needs to be designed. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a crankshaft automatic detection and framing machine and a detection and framing process thereof, which can realize automatic and continuous feeding, synchronous carrying and rotating of the crankshaft, correction of the crankshaft in the transfer inclined guide, carrying and detection positioning of the crankshaft, vertical insertion and clamping correction of the crankshaft, synchronous detection of rotation and linear motion, and stacking and circulating storage of multiple material frames, realize 360° detection of the crankshaft, and improve the detection and batch storage efficiency of the crankshaft.

[0005] The technical scheme adopted by the present application is as follows: a crankshaft automatic detection frame mounting machine, comprising a machine table and a machine cover, the machine table is horizontally arranged, the machine cover is arranged on the machine table, further comprising a feeding assembly, a transfer manipulator, a transfer correction platform, a detection platform, a detection assembly and a discharging part, wherein the machine table is provided with a detection station and a storage station; the crankshaft comprises a crankshaft journal and a crank; the crankshaft journal is a rod-shaped structure, the crank is a sheet-shaped structure, one side of the crank is perpendicularly connected to the rod body of the crankshaft journal and extends along a plane perpendicular to the crankshaft journal, the other side of the crank is provided with an outwardly extending connecting shaft along a direction perpendicular to the eccentric direction of the crankshaft journal; the feeding assembly and the discharging part are respectively arranged at both ends of the machine table and are respectively located at the detection station and the storage station, the feeding assembly is used for automatically guiding the feeding of the crankshafts to be detected, and the discharging part is used for storing and centrally discharging the detected crankshafts; the transfer manipulator is arranged on one side of the feeding assembly and is used for clamping the crankshafts from the feeding assembly and then moving the crankshafts to the transfer correction platform; the transfer correction platform and the detection platform are arranged at the detection station, the transfer correction platform is used for correcting the angle and flatness of the crankshafts; the detection platform is used for bearing the corrected crankshafts; the detection assembly is arranged above the detection platform and is used for detecting the appearance of the crankshafts; the detection platform comprises a detection support, a detection rotary motor, a detection rotary support, a detection adjusting cylinder and a detection clamping piece, wherein the detection support is arranged on the machine table; the detection rotary motor is arranged at the lower part of the detection support and the output end thereof extends upward through the detection support; the detection rotary support is horizontally arranged above the detection support and is connected with the output end of the detection rotary motor and is driven by the detection rotary motor to rotate in the horizontal plane; the detection adjusting cylinder is arranged on the detection rotary support and outputs linear power for adjusting the linear position of the detection clamping piece arranged thereon; the detection clamping piece comprises a detection clamping cylinder, a clamping slide and a detection clamping block, wherein the detection clamping cylinder is arranged on the output end of the detection adjusting cylinder and the output end thereof is arranged upward; the clamping slide comprises at least two clamping slides, the at least two clamping slides are arranged on the detection clamping cylinder in a circumferential direction and are respectively connected with the output end of the detection clamping cylinder, the middle part of the at least two clamping slides forms a circular clamping hole in a folded state, the crankshaft journal is vertically inserted and placed in the circular clamping hole, the detection clamping cylinder synchronously drives the at least two clamping slides to move linearly along the circumferential radial direction for clamping and fixing the crankshaft journal; a first clamping groove or a second clamping groove is arranged on the side edge of the clamping slide in a radial direction, the first clamping groove and the second clamping groove are respectively arranged on the adjacent two clamping slides, and the grooves of the first clamping groove and the second clamping groove are correspondingly arranged in an up-down direction so as to be embedded and guided in the clamping process.

[0006] Preferably, the feeding assembly comprises a feeding support, a feeding support platform, a feeding driving element and an air knife cleaning element, wherein the feeding support is erected outside one end of the machine table; the feeding support platform is horizontally arranged on the feeding support; the feeding driving element is arranged on the feeding support platform and moves back and forth in a straight line for picking up the crankshaft and driving the crankshaft to transmit to the machine table; the air knife cleaning element is erected above the feeding driving element for blowing and cleaning the crankshaft in transmission; the feeding driving element comprises a feeding motor, a feeding transmission belt and a crankshaft carrier, wherein the feeding motor is arranged on one side of the feeding support platform and arranged in a horizontal direction along the output shaft; the feeding transmission belt is horizontally arranged on the feeding support platform and is tensioned by the rollers arranged on both sides of the feeding support platform and is connected with the output shaft of the feeding motor, when the output shaft of the feeding motor rotates, the upper and lower belt bodies of the feeding transmission belt are driven to move back and forth in a straight line; the crankshaft carrier comprises at least two, the at least two crankshaft carriers are arranged on the feeding transmission belt in a spaced manner, the crankshaft carrier is a U-shaped block structure, the opening thereof is arranged on the feeding transmission belt in an upward manner and is locked and fixed with the feeding transmission belt through the locking hole arranged at the bottom, the vertical supporting plates on both sides of the upper part of the crankshaft carrier are respectively arranged with downward recessed supporting grooves which are circular arc groove structures for carrying and supporting the crankshaft journal; the outer side of the vertical supporting plate on one side of the crankshaft carrier is further provided with an auxiliary supporting plate, a gap is left between the auxiliary supporting plate and the vertical supporting plate to form an embedding groove for embedding the crank, a recess is arranged on the auxiliary supporting plate in a recessed manner for carrying and supporting the connecting shaft on the crank; the air knife cleaning element comprises an air knife support and an air knife, wherein the air knife support is erected on the feeding transmission belt; the air knife comprises at least two, the bottom of the air knife is arranged with a strip-shaped air port for guiding the high-pressure air wall downward for cleaning the crankshafts passing below the feeding transmission belt.

[0007] Preferably, the transfer robot comprises a transfer support, a horizontal movement module, a vertical movement module, a first vertical movement support, a first carrying assembly and a second carrying assembly, wherein the transfer support is arranged on a machine table; the horizontal movement module is horizontally arranged on the transfer support and outputs power in a horizontal direction; the vertical movement module is connected to an output end of the horizontal movement module and outputs linear power in a vertical direction; the first vertical movement support is horizontally arranged on an output end of the vertical movement module; the first carrying assembly and the second carrying assembly are arranged on the first vertical movement support at intervals, the first carrying assembly is used to take out the crankshaft from the feeding assembly and carry the crankshaft to the transfer correction platform, and the second carrying assembly is used to take and place the crankshaft at the transfer correction platform and the detection platform; the first carrying assembly comprises a lifting cylinder, a second vertical movement support and a material taking head, wherein the lifting cylinder is vertically arranged on a side wall of the first vertical movement support and has a downward output end; the second vertical movement support is slidably connected to the side wall of the first vertical movement support and connected to the output end of the lifting cylinder; the material taking head is arranged on the second vertical movement support; the second carrying assembly comprises at least two groups of material taking heads arranged on the second vertical movement support at intervals and used to take and place the crankshaft in linkage; the material taking head comprises a rotating cylinder, a material taking cylinder, a material taking support, a clamping cylinder and clamping blocks, wherein the rotating cylinder is arranged on the first vertical movement support or the second vertical movement support and outputs rotating power in a vertical plane; the material taking cylinder is arranged on an output end of the rotating cylinder and rotates driven by the rotating cylinder; the material taking support is arranged on an output end of the material taking cylinder and moves linearly driven by the material taking cylinder; the clamping cylinder is arranged on a side wall of the material taking support, two clamping blocks are connected to an output end of the clamping cylinder, the clamping cylinder drives the two clamping blocks to approach or move away from each other, and is used to clamp or release the crankshaft.

[0008] Preferably, the transfer correction platform comprises a platform support, platform columns, a platform base, correction supports, a pressing component and a guiding component, wherein the platform support is horizontally arranged on the machine table; the platform columns comprise at least two, which are vertically arranged on the platform support; the platform base is horizontally arranged on the top of the at least two platform columns; the correction supports are arranged on the platform base, which comprise two, which are parallel and spaced apart, and a horizontal support block is arranged between the two correction supports, and a V-shaped groove type structure correction trough is arranged on the top of the correction supports, which is concave downward, for supporting the crankshaft journal, and the crankshaft journal between the two correction supports is supported by the horizontal support block; the pressing component comprises two groups, which are arranged on the two sides of the correction supports respectively, for flattening the correction supports; the guiding component is arranged on the outside of one of the correction supports, for guiding the support crank; the pressing component comprises a flat pressing cylinder and a flat pressing block, wherein the flat pressing cylinder is vertically arranged on the platform support and located outside the platform base, and the output end of the flat pressing cylinder is upwardly arranged; the flat pressing block is horizontally connected to the output end of the flat pressing cylinder, and the bottom of the flat pressing block is provided with a vertical downward extending pressing rod; the flat pressing cylinder drives the flat pressing block to drive the pressing rod to press downwardly the platform base, so as to ensure the flatness of the platform base; the guiding component comprises a guiding support and a guiding block, wherein the guiding support is arranged on one side of the platform base and vertically extends upwardly, and a strip-shaped structure installation strip groove is arranged on one side wall of the guiding support; the guiding block is installed in the installation strip groove on the side of the guiding support, and an inclined guiding slope is arranged on the side of the top of the guiding block close to the correction trough, for supporting the guiding crank.

[0009] Preferably, the detection assembly comprises a detection support, a first detection member and a second detection member, wherein the detection support is vertically arranged on the machine table and located on the side of the detection platform; the first detection member and the second detection member are respectively fixed on the detection support and respectively located on the two sides of the detection support, the first detection member is used for incoming material detection, and the second detection member is used for detecting the crankshaft on the detection platform; the first detection member comprises a detection mounting seat, a first CCD and a first aperture, wherein the detection mounting seat is arranged on the detection support; the first CCD and the first aperture are spaced apart in the up-down direction and arranged on the side wall of the detection mounting seat, and the lens direction of the first CCD is downwardly arranged, for shooting the positioning crankshaft.

[0010] Preferably, the first detection member comprises a detection mounting base, a first CCD and a first aperture, wherein the detection mounting base is arranged on the detection support column; the first CCD and the first aperture are arranged on the side wall of the detection mounting base in a vertical direction, the lens of the first CCD is arranged downward for shooting the locating crankshaft; the second detection member comprises a CCD support base, a second CCD, a detection cylinder, a light source cover and a second aperture, wherein the CCD support base is arranged on the detection support column; the second CCD is arranged on the side wall of the CCD support base, and the lens of the second CCD is arranged horizontally toward the detection platform; the detection cylinder is arranged below the second CCD and connected to the side wall of the CCD support base; the light source cover is arranged on the output end of the detection cylinder and located outside the second CCD, the light source cover is a semicircular cover structure, a light source through hole is arranged on the side wall of the light source cover corresponding to the second CCD, and the light source cover is driven by the detection cylinder to move horizontally and linearly; the second aperture is arranged horizontally in the light source cover and below the light source through hole, during the detection process, the light source cover drives the second aperture to move above the detection platform, and the second aperture is used for assisting the light to be shot on the crankshaft during the detection of the second CCD.

[0011] Preferably, the blanking part comprises a frame loading and transferring assembly, a frame discharging assembly and a blanking roller table, wherein the frame discharging assembly is arranged on the side of the detection platform, the frame discharging assembly comprises at least two parallel arranged feeding channels; the frame loading and transferring assembly is arranged above the frame discharging assembly for moving the crankshaft and transferring the frame between different feeding channels; the blanking roller table is arranged in the frame discharging assembly for guiding the frame loaded with the stacked crankshafts out.

[0012] Preferably, the frame discharging assembly comprises a discharging table and a frame, wherein the discharging table comprises two discharging tables arranged side by side and spaced apart on the outer side of the machine table, respectively forming two feeding channels extending linearly to the outer side of the machine table, one of the feeding channels formed on the two discharging tables is used for stacking empty frames up and down, and the other feeding channel is used for stacking full frames loaded with crankshafts up and down, the frame transfer assembly puts the crankshafts into the empty frame, and moves the full frame loaded with the crankshafts to the other feeding channel for stacking; the discharging table comprises a discharging support table, a discharging roller, a discharging slide rail, a discharging motor, a discharging transmission belt, a discharging slide seat, a clamping cylinder and a blocking block, wherein the discharging support table is horizontally arranged on the outer side of the machine table, the first and second buffer stations are arranged on the discharging support table, and the clamping cylinder is arranged between the first and second buffer stations for blocking the frame; the clamping cylinder is arranged between the discharging support table and the machine table for blocking the frame; the discharging roller comprises two rows of parallel and spaced apart discharging rollers arranged on the discharging support table for supporting the frame from both sides; the discharging slide rail is horizontally arranged on the discharging support table; the discharging slide seat is slidably arranged on the discharging slide rail, and the frame is placed on the discharging slide seat; the discharging motor is arranged at one end of the discharging support table, and the output end penetrates through the discharging support table; the discharging transmission belt is arranged on the discharging support table and connected with the output end of the discharging motor, and is driven by the discharging motor to drive the discharging slide seat connected therewith to move linearly, so that the discharging slide seat drives the frame to move between the first and second buffer stations; the blocking block comprises at least two blocking blocks arranged at both ends of the discharging support table for blocking the frame; the frame comprises a frame body, a handle, a support rib frame and a support block, wherein the frame body is a rectangular frame structure, and the inside of the frame body is a storage space; the handle comprises at least two handles arranged at four sides of the frame body and extending upward for lifting the frame body and guiding and limiting when stacking the frame body up and down; the support rib frame is arranged in the storage space of the frame body, and forms a support plane in the storage frame, at least two upper and lower through grooves are arranged on the support rib frame for horizontally placing the crankshaft; the inner side wall of the through groove is provided with a support block extending into the through groove, and a downwardly recessed groove is formed between the support block and the inner wall of the through groove for embedding and clamping the horizontally placed crankshaft journal, and an inwardly recessed groove is formed on the two side walls of the through groove for embedding and clamping the crank.

[0013] Preferably, the frame loading and transferring assembly comprises a first transferring linear module, a second transferring linear module, a U-shaped support, a carrying head and a frame taking head, wherein the first transferring linear module is arranged above the discharging table; the second transferring linear module is arranged on the first transferring linear module and outputs linear power in a direction perpendicular to the first transferring linear module; the U-shaped support is arranged on the second transferring linear module and connected with the output end of the second transferring linear module; the carrying head and the frame taking head are arranged on the two sides of the U-shaped support respectively and move synchronously with the U-shaped support, the carrying head is used for clamping and placing the crankshaft into the frame, and the frame taking head is used for transferring the frame between different feeding channels; the carrying head comprises a carrying sliding rail, a carrying cylinder, a carrying sliding seat, a clamping cylinder and a clamping block, wherein the carrying sliding rail is arranged vertically on one side wall of the U-shaped support; the carrying cylinder is arranged above the carrying sliding rail and the output end thereof is arranged downward; the carrying sliding seat is slidably connected with the carrying sliding rail and connected with the output end of the carrying cylinder; the clamping cylinder is arranged on the carrying sliding seat and the output end thereof is arranged downward; the clamping block is connected with the output end of the clamping cylinder and driven by the clamping cylinder to clamp or release the crankshaft; the frame taking head comprises a frame taking support, a frame taking sliding rail, a frame taking cylinder, a frame taking sliding seat, a connecting block, a connecting column and a frame taking inserting block, wherein the frame taking support is arranged on the linear module arranged on the side wall of the U-shaped support and driven by the linear module to move up and down; the frame taking sliding rail is arranged on the frame taking support; the frame taking cylinder is arranged on the frame taking support and outputs power horizontally at both ends thereof; the frame taking sliding seat comprises two blocks, the two blocks of the frame taking sliding seat are connected with the output ends of the frame taking cylinder at both ends thereof respectively and slidably connected with the frame taking sliding rail respectively, and the frame taking cylinder drives the two blocks of the frame taking sliding seat to move linearly; the connecting block is arranged on the top of the outer end of the frame taking sliding seat; the connecting column comprises at least two columns, the at least two columns of the connecting column are arranged vertically on the bottom of the outer end of the frame taking sliding seat; the top of the frame taking inserting block is provided with an inwardly recessed mounting groove, the top of the mounting groove is open, and the bottom of the mounting groove is vertically connected with the at least two columns of the connecting column; the outer side wall of the frame taking inserting block is provided with a horizontally outwardly extending supporting piece part at the bottom thereof, which is used for being inserted into the handle of the frame horizontally and used for supporting the handle to lift the frame.

[0014] A detection and frame loading process of the automatic crankshaft detection and frame loading machine, comprising the following process steps:

[0015] S1, crankshaft feeding: the crankshaft to be detected is placed on the crankshaft carrier of the feeding assembly, and the feeding transmission belt drives the crankshaft carrier to move towards the direction of the transfer robot;

[0016] S2, crankshaft transferring: after the crankshaft carrier in step S1 drives the crankshaft to move below the transfer robot, the first carrying assembly of the transfer robot takes out the crankshaft from the crankshaft carrier and carries it to the transfer correction platform;

[0017] S3, Crankshaft guiding correction: the intermediate transfer correction platform bears the crankshaft horizontally in step S2, controls the bearing flatness through the compression component, and guides the crank through the inclined extension guiding slope of the guiding component;

[0018] S4, Crankshaft rotation and transfer: the crankshaft after guiding correction in step S3 is taken out by the second carrying assembly of the intermediate transfer manipulator, and is rotated from the horizontal direction to the vertical direction;

[0019] S5, Loading detection: after the intermediate transfer manipulator rotates the crankshaft to the vertical direction in step S4, the crankshaft is moved to the lower part of the detection assembly for initial position detection and positioning of the crankshaft;

[0020] S6, Crankshaft clamping correction and positioning: after the crankshaft position detection and positioning in step S5 are completed, the intermediate transfer manipulator carries the crankshaft into the detection platform, and the crank is inserted into the detection platform upward, and the detection platform synchronously clamps, corrects and positions the crankshaft along the radial direction of the circle;

[0021] S7, Crankshaft detection: after the crankshaft completes clamping and positioning in step S6, the detection mechanism moves linearly along the direction of the detection platform, adjusts the detection distance, and detects the vertically inserted crankshaft on the detection platform; at the same time, the synchronous rotation and linear motion of the detection platform realize 360° shooting detection of the crankshaft;

[0022] S8, Crankshaft unloading and transfer: after the crankshaft detection in step S7 is completed, the intermediate transfer manipulator takes out the detected crankshaft, rotates to the horizontal direction, and moves to the lower part of the frame transfer assembly;

[0023] S9, Crankshaft frame assembly: after the frame transfer assembly in step S8 takes out the crankshaft from the intermediate transfer manipulator, the crankshaft is moved and placed into the material frame out of the material frame assembly in a feeding channel, and is stacked in the material frame until the material frame is full;

[0024] S10, Material frame transfer and stacking: after the material frame in step S9 is full of crankshafts, the material frame full of crankshafts is taken out from one feeding channel of the material frame assembly and stacked in another feeding channel by the frame transfer assembly;

[0025] S11, Material frame unloading: the steps S9 to S10 are repeated until the number of the material frame stacked in the other feeding channel of the material frame assembly reaches a predetermined number, and then the material frame is transported to the unloading roller table by the material frame unloading assembly to complete the unloading.

[0026] The beneficial effects of the present application are:

[0027] The present application independently researches and develops a crankshaft automatic detection and frame loading machine and a detection and frame loading process for realizing automatic continuous feeding, synchronous carrying and rotating of the crankshaft, inclined guide correction of the crankshaft, carrying, detection and positioning of the crankshaft, vertical insertion and clamping correction of the crankshaft, synchronous detection of rotation and linear motion, and cyclic storage and feeding of multiple material frames, realizing 360-degree detection of the crankshaft, and improving the detection and batch storage and feeding efficiency of the crankshaft.

[0028] The present application is applied to the field of crankshaft manufacturing, belongs to a detection and feeding equipment in a later-stage process of crankshaft manufacturing, and aims to realize automatic detection of the crankshaft, automatic feeding before detection, carrying and transferring before detection, angle switching before detection, clamping and positioning of the crankshaft before detection, synchronous rotation and linear motion during the detection process to realize 360-degree detection of the crankshaft, and cyclic frame loading and feeding after the detection, so as to improve the detection capacity and quality of the crankshaft as a whole, realize 360-degree detection of the crankshaft through a single detection platform, improve the detection efficiency, and reduce the equipment cost.

[0029] Specifically, the present application takes a horizontally arranged machine table as a bearing structure, one end of the machine table is provided with a feeding assembly and a transfer manipulator corresponding to a feeding end, the other end of the machine table is provided with a frame loading transfer assembly, a material frame discharging assembly and a discharging roller table corresponding to a storage and discharging end, and the middle part of the machine table is provided with a transfer correction platform, a detection platform and a detection assembly corresponding to a detection station; after the production of the previous work station is completed, the crankshaft to be detected is introduced into the crankshaft carrier of the feeding assembly, after being horizontally supported by the crankshaft carrier, the feeding transmission belt drives multiple crankshaft carriers to be linearly conveyed to the position below the transfer manipulator in the direction of the machine table, the transfer manipulator takes the horizontally placed crankshaft from the crankshaft carrier and horizontally places it on the transfer correction platform, after the transfer correction platform corrects the crankshaft obliquely, the transfer manipulator takes out the corrected crankshaft and rotates it to the vertical direction and then moves to the position below the detection assembly, and the detection assembly performs shooting detection positioning of the initial position, after the shooting detection positioning, the transfer manipulator vertically inserts the crankshaft into the detection platform, and the detection platform clamps and corrects the vertically placed crankshaft from the outside to the inside along the radial direction of the circle, so that the verticality consistency is maintained, and the positional accuracy during the detection process is ensured; during the detection process, the detection platform drives the clamped and positioned crankshaft to rotate and move in the horizontal plane and along the linear direction, so that the crankshaft towards the detection assembly continuously changes position and angle, so as to realize 360° full coverage detection of the crankshaft, and through one detection platform, multi-directional and positional detection is realized, the detection efficiency is effectively improved, and the equipment manufacturing cost is reduced; after the detection is completed, the crankshaft is taken out by the transfer manipulator and moved to the position below the frame loading transfer assembly, after being taken out by the frame loading transfer assembly, the frame loading transfer assembly rotates the crankshaft from the vertical direction to the horizontal direction and places it into the material frame of the material frame discharging assembly, after a single material frame is fully loaded with crankshafts, the frame loading transfer assembly lifts the material frame full of crankshafts and moves it from one feeding channel of the material frame discharging assembly to another feeding channel, and the cycle continues until a predetermined number of material frames are stacked up and down in another feeding channel, and then the material frame discharging assembly linearly transfers the stacked material frames to the discharging roller table, and the discharging roller table concentrates the discharging.

[0030] In particular, in order to solve the problem of continuous material receiving and feeding to improve the feeding efficiency, the discharging assembly of the present application adopts the mode that multiple crankshaft carriers are fixed on the feeding transmission belt, after the multiple crankshaft carriers receive the crankshafts discharged from the previous work station, the feeding transmission belt drives them to move forward, the next empty crankshaft carrier continues to receive material, and with the continuous forward movement of the feeding transmission belt, the crankshafts are transported one by one to the position below the transfer manipulator, after the transfer manipulator takes out the crankshafts, the empty crankshaft carrier moves to the material receiving position in a cycle, so as to realize continuous feeding in a cycle and effectively improve the feeding efficiency.

[0031] Further, the crankshaft detection process of the application involves taking material, guiding correction before detection, switching the horizontal state of the crankshaft supply to the vertical state during detection, continuous linkage transfer of the crankshaft between the loading assembly, the transfer correction platform and the detection platform, and frame loading and unloading, etc. The application designs a transfer manipulator, which takes the crankshaft from the loading assembly and places it on the transfer correction platform through a first carrying assembly. The second carrying assembly takes the crankshaft from the transfer correction platform, rotates the crankshaft to a vertical state, moves it to the detection assembly below for initial position shooting detection positioning, and then places the crankshaft into the detection platform. The crankshaft after detection is taken out by the second carrying assembly and moved to the frame loading and transfer assembly below for the frame loading and transfer assembly to take it away. The first carrying assembly of the transfer manipulator and the two carrying assemblies of the second carrying assembly realize linkage transfer of the crankshaft between the loading assembly, the transfer correction platform, the detection platform and the frame loading and carrying assembly, and simultaneously complete the rotation of the crankshaft from the horizontal direction to the vertical direction during the transfer process. The single transfer manipulator completes the automatic carrying and conveying of the crankshaft in multiple positions, and simultaneously realizes the switching of the state of the crankshaft during the carrying and conveying process, effectively improves the linkage transfer efficiency of the material, improves the carrying structure concentration, and reduces the equipment manufacturing cost.

[0032] Further, due to the irregular shape of the crank of the crankshaft, the rotation position of the crank of the horizontally guided crankshaft of the discharge assembly is inconsistent, and there is a difference in position angle. In order to ensure the consistency of the initial position and angle of subsequent detection, the position and angle of the crankshaft in the horizontal state need to be corrected before detection. The application designs a transfer correction platform to correct the initial position of the horizontally taken crankshaft. The transfer manipulator takes the horizontally taken crankshaft from the loading assembly and places it in the correction groove of the correction support of the transfer correction platform. The correction groove supports the shaft neck of the shaft in a movable state. The detection of the guide block provided on the side of the correction support corresponds to the inclined guide slope provided on the correction groove. When the crankshaft is placed in the correction groove, the crank is automatically guided in position and angle by the guide slope, completing the angle correction of the horizontally taken crankshaft to ensure the consistency of the angle after the transfer of the material.

[0033] Further, the detection platform and the detection assembly of the present application are used to perform detection, aiming at the irregular structure of the crankshaft, and full coverage detection of the crankshaft in 360° direction needs to be realized in the detection process; based on the above, the detection platform of the present application adopts vertical plug-in mode to carry the crankshaft to be detected, and the rotating motor is used to provide rotating power in the horizontal plane, for adjusting the angle of the crankshaft in real time during the detection process, so that the detection assembly can take real-time detection, until the crankshaft is rotated for 360° detection; the detection adjusting cylinder arranged on the detection rotating motor is used to provide linear power in the horizontal plane, for adjusting the linear distance between the detection assembly during the detection process, so as to adapt to the detection of crankshafts of different sizes; in particular, the detection adjusting cylinder of the present application is provided with a detection clamping cylinder, the detection clamping cylinder is a circular structure, and includes a plurality of output ends along the radial direction of the circle, a plurality of clamping sliding blocks are respectively connected to the output ends of the detection clamping cylinder and are driven by the detection clamping cylinder to move linearly in and out along the radial direction of the circle; further, the detection clamping block of the fan-shaped structure is horizontally arranged on the clamping sliding block, and the first clamping groove and the second clamping groove extending along the circumferential radial direction are respectively arranged above and below between the two adjacent detection clamping blocks, the first clamping groove and the second clamping groove are arranged above and below, when the detection clamping block moves along the radial direction to the center of the circle with the clamping sliding block, the first clamping groove and the second clamping groove are embedded with each other, so as to realize the limiting and guiding of the moving detection clamping block during the inward clamping of the two adjacent detection clamping blocks, and the perpendicularity of the crankshaft is effectively ensured while the crankshaft is clamped and fixed. Further, based on the crankshaft detection process requirement, the detection assembly of the present application takes the vertically arranged detection support as the carrying structure, the first detection piece and the second detection piece are respectively arranged on different sides of the detection support, the first detection piece is used to take initial position and angle shooting detection on the crankshaft plugged into the detection platform, so as to send the position and angle information to the industrial computer, so as to ensure the consistency of the position and angle of the crankshaft after the transfer robot is plugged into the detection platform; the second detection piece is horizontally arranged on the side of the detection platform, and adjusts the linear distance between the detection platform along the straight line direction of the detection platform, for adjusting the detection shooting focal length.

[0034] Further, in order to adapt to the production capacity demand of the automatic production line of the crankshaft, the application realizes 360° full-angle automatic detection of the crankshaft and also has a circulating frame loading and storage function. A frame discharging assembly and a discharging roller table are sequentially arranged at the rear end of the detection platform. The frame discharging assembly comprises two discharging tables arranged in parallel and at intervals. Two feeding channels extending in a straight line are respectively formed on the two discharging tables. One of the two feeding channels is used for stacking a plurality of empty frames in a vertical direction. The empty frames are conveyed from outside to inside to the direction of the transfer robot through the discharging table. The other feeding channel conveys power in the opposite direction and is used for stacking a plurality of full crankshaft frames in a vertical direction. A frame loading and transferring assembly arranged above the frame discharging assembly is used to take out the crankshaft after detection from the transfer robot and place the good crankshaft in an empty frame in one feeding channel. When the frame is full of crankshafts, the frame loading and transferring assembly carries the full frame to the other feeding channel and stacks it in a vertical direction. The cycle is repeated until all empty frames are full and stacked. The discharging table moves the plurality of full frames stacked in a vertical direction to the discharging roller table. The full frames are guided out through the discharging roller table. At the same time, another group of empty frames is guided into the transfer robot from the discharging roller table in the opposite direction. Thus, continuous frame loading and storage and discharging are realized, the continuous non-stop frame loading and storage and discharging are realized, the standby time is reduced, and the production efficiency of the crankshaft is improved. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a perspective view of the application.

[0036] Figure 2 It is one of the perspective views of the application after the hidden cover.

[0037] Figure 3 It is another perspective view of the application after the hidden cover.

[0038] Figure 4 It is a perspective view of the application after the hidden parts.

[0039] Figure 5 It is one of the perspective views of the application of the feeding assembly.

[0040] Figure 6 It is another perspective view of the application of the feeding assembly.

[0041] Figure 7 It is a perspective view of the application of the crankshaft carrier.

[0042] Figure 8 It is one of the perspective views of the application of the crankshaft.

[0043] Figure 9 It is another perspective view of the application of the crankshaft.

[0044] Figure 10 This is one of the three-dimensional structural schematic diagrams of the transfer robot in this invention.

[0045] Figure 11 This is the second three-dimensional structural schematic diagram of the transfer robot in this invention.

[0046] Figure 12 This is one of the three-dimensional structural diagrams of the material handling head of the present invention.

[0047] Figure 13 This is the second three-dimensional structural diagram of the material handling head of the present invention.

[0048] Figure 14 This is one of the three-dimensional structural schematic diagrams of the transfer and correction platform of the present invention.

[0049] Figure 15 This is the second three-dimensional structural schematic diagram of the transfer and correction platform of the present invention.

[0050] Figure 16 This is one of the three-dimensional structural diagrams of the detection platform and detection components of the present invention.

[0051] Figure 17 for Figure 16 Enlarged structural diagram at point I.

[0052] Figure 18 This is the second three-dimensional structural schematic diagram of the detection platform and detection components of the present invention.

[0053] Figure 19 This is one of the three-dimensional structural schematic diagrams of the detection platform of the present invention.

[0054] Figure 20 This is the second three-dimensional structural schematic diagram of the detection platform of the present invention.

[0055] Figure 21 This is one of the component structure diagrams of the detection platform of the present invention.

[0056] Figure 22 This is the second schematic diagram of the component structure of the detection platform of the present invention.

[0057] Figure 23 This is one of the component structure diagrams of the detection component of the present invention.

[0058] Figure 24 This is the second schematic diagram of the component structure of the detection component of the present invention.

[0059] Figure 25 This is one of the three-dimensional schematic diagrams of the frame-mounting and transporting assembly of the present invention.

[0060] Figure 26 This is a second perspective view of the framed transport assembly of the present invention.

[0061] Figure 27 Figure 1 is a schematic diagram of the perspective structure of the carrying head of the present application.

[0062] Figure 28 Figure 2 is a schematic diagram of the perspective structure of the carrying head of the present application.

[0063] Figure 29 Figure 3 is a schematic diagram of the perspective structure of the frame taking head and the material frame of the present application.

[0064] Figure 30 Figure 4 is a schematic diagram of the perspective structure of the frame taking head of the present application.

[0065] Figure 31 Figure 5 is a schematic diagram of the perspective structure of the frame taking head of the present application.

[0066] Figure 32 Figure 6 is a schematic diagram of the component structure of the frame taking head of the present application.

[0067] Figure 33 Figure 7 is a schematic diagram of the component structure of the frame taking head of the present application.

[0068] Figure 34 Figure 8 is a schematic diagram of the perspective structure of the material frame discharging assembly and the discharging roller table of the present application.

[0069] Figure 35 Figure 9 is a schematic diagram of the perspective structure of the discharging table of the present application.

[0070] Figure 36 Figure 10 is a schematic diagram of the perspective structure of the discharging table of the present application.

[0071] Figure 37 Figure 11 is a schematic diagram of the perspective structure of the material frame of the present application.

[0072] Figure 38 Figure 12 is a schematic diagram of the perspective structure of the material frame of the present application. Figure 37 Figure 13 is a schematic diagram of the enlarged structure of the middle II.

[0073] Figure 1 is a schematic diagram of the perspective structure of the carrying head of the present application.

[0074] 01, crankshaft journal; 02, crank;

[0075] 31, feeding support; 32, feeding support table; 33, feeding motor; 34, feeding transmission belt; 35, crankshaft carrier; 36, air knife support; 37, air knife; A, support groove; B, embedding groove;

[0076] 41, transfer support; 42, horizontal movement module; 43, lifting module; 44, first lifting support; 45, lifting cylinder; 46, second lifting support; 47, material taking head;

[0077] 471, rotating cylinder; 472, material taking cylinder; 473, material taking support; 474, clamping cylinder; 475, clamping block;

[0078] 51, platform support; 52, platform column; 53, platform base; 54, correction support; 55, horizontal pressing cylinder; 56, horizontal pressing block; 57, guiding support; 58, guiding block; C, correction material groove;

[0079] 61, detection support; 62, detection rotating motor; 63, detection rotating support; 64, detection adjusting cylinder; 65, detection clamping cylinder; 66, clamping sliding block; 67, clamping block; D, first clamping groove; E, second clamping groove;

[0080] 71, detection column; 72, detection mounting base; 73, first CCD; 74, first aperture; 75, CCD support; 76, second CCD; 77, detection cylinder; 78, light source cover; 79, second aperture; F, light source through hole;

[0081] 81, first transfer linear module; 82, second transfer linear module; 83, U-shaped support; 84, carrying head; 85, frame taking head;

[0082] 841, carrying sliding rail; 842, carrying cylinder; 843, carrying sliding base; 844, clamping cylinder; 845, clamping block;

[0083] 851, frame taking support; 852, frame taking sliding rail; 853, frame taking cylinder; 854, frame taking sliding base; 855, connecting block; 856, connecting column; 857, frame taking inserting block; 858, inductor; 859, inductive sheet;

[0084] 91, discharging table; 92, material frame;

[0085] 911, discharging support; 912, discharging roller; 913, discharging sliding rail; 914, discharging motor; 915, discharging transmission belt; 916, discharging sliding base; 917, clamping cylinder; 918, blocking block;

[0086] 921, frame body; 922, handle; 923, supporting rib frame; 924, supporting block; G, through groove. DETAILED DESCRIPTION

[0087] Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the protection scope of the present application.

[0088] It should be noted that all directional indications such as upper, lower, left, right, front, back, etc. used in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0089] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "connection" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0090] Embodiment 1: as Figures 1 to 4 , Figures 8 to 9 , Figures 19 to 22As shown, the present application provides a kind of crankshaft automatic detection frame mounting machine, including machine table 1 and machine cover 2, machine table 1 horizontal arrangement, machine cover 2 cover is set on machine table 1, further including feeding assembly 3, transfer manipulator 4, transfer correction platform 5, detection platform 6, detection assembly 7 and discharging part, wherein, the detection station and storage station are provided on the machine table 1;The crankshaft 0 includes crankshaft journal 01 and crank 02;The crankshaft journal 01 is rod structure, the crank 02 is sheet structure, one side of crank 02 is vertically connected on the rod body of crankshaft journal 01, and it extends along the plane perpendicular to crankshaft journal 01, and the other side of crank 02 is provided with the connecting shaft extending outward along the direction perpendicular to the eccentric direction of crankshaft journal 01;The feeding assembly 3 and discharging part are respectively arranged at both ends of machine table 1, and are respectively located at detection station and storage station, feeding assembly 3 is used to automatically import feeding crankshaft 0 to be detected, and discharging part is used to store and concentrate export crankshaft 0 after detection;The transfer manipulator 4 is erected on one side of feeding assembly 3, for clamping crankshaft 0 from feeding assembly 3, then moves crankshaft 0 to transfer correction platform 5;The transfer correction platform 5 and detection platform 6 are arranged at detection station, and transfer correction platform 5 is used for correcting the angle and flatness of crankshaft 0;The detection platform 6 is used to carry corrected crankshaft 0;The detection assembly 7 is arranged above detection platform 6, for appearance detection of crankshaft 0;The detection platform 6 includes detection support 61, detection rotary motor 62, detection rotary support 63, detection adjustment cylinder 64 and detection clamping piece, wherein, the detection support 61 is arranged on machine table 1;The detection rotary motor 62 is arranged at the lower part of detection support 61, and the output end penetrates through detection support 61 and extends upward;The detection rotary support 63 is horizontally arranged above detection support 61 and is connected with the output end of detection rotary motor 62, and is driven by detection rotary motor 62 to rotate in horizontal plane;The detection adjustment cylinder 64 is arranged on detection rotary support 63, and the output linear power of detection adjustment cylinder 64 is used to adjust the linear position of detection clamping piece arranged thereon;The detection clamping piece includes detection clamping cylinder 65, clamping slider 66 and detection clamping block 67, wherein, the detection clamping cylinder 65 is arranged on the output end of detection adjustment cylinder 64, and the output end is upwardly arranged;The clamping slider 66 includes at least two blocks, and the at least two clamping sliders 66 are arranged on the output end of detection clamping cylinder 65 in circumferential direction and are connected with the output end of detection clamping cylinder 65 respectively, and the middle part of the at least two clamping sliders 66 forms circular clamping hole in folded state, for vertically inserting crankshaft journal 01, and detection clamping cylinder 65 synchronously drives the linear motion of the at least two clamping sliders 66 along circumferential radial direction, for clamping and fixing crankshaft journal 01.The side of the clamping slider 66 is provided with a first clamping groove D or a second clamping groove E in a radial direction, and the adjacent two clamping sliders 66 are respectively provided with the first clamping groove D and the second clamping groove E, and the slots of the first clamping groove D and the second clamping groove E are correspondingly arranged in the up-down direction, so as to be embedded and guided to each other during clamping.

[0091] Further, the application designs a crankshaft automatic detection frame loading machine and a detection frame loading process, which realizes automatic continuous feeding, synchronous carrying and rotating of the crankshaft, correction of the crankshaft in the transfer inclined guide, carrying, detection and positioning of the crankshaft, vertical insertion, clamping correction, rotation and linear motion synchronous detection of the crankshaft, and multi-material frame stacking and circulation storage and feeding, realizes 360° detection of the crankshaft, and improves the detection and batch storage and feeding efficiency of the crankshaft. The application is applied to the crankshaft manufacturing field and belongs to a detection and feeding device in the later stage of crankshaft manufacturing, aims to realize automatic detection of the crankshaft, automatic feeding before detection, carrying and transfer before detection, angle switching before detection, clamping and positioning of the crankshaft before detection, synchronous rotation and linear motion during the detection process to complete 360° detection of the crankshaft, and circulation frame loading and feeding after the detection, so as to improve the detection capacity and quality of the crankshaft as a whole, realize 360° detection of the crankshaft through a single detection platform, improve the detection efficiency, and reduce the equipment cost. Specifically, the machine table horizontally arranged as a bearing structure is used as a whole, the upper end of the machine table is provided with a feeding assembly and a transfer manipulator corresponding to the feeding end, the other end of the machine table is provided with a frame loading and transferring assembly, a material frame discharging assembly and a feeding roller table corresponding to the storage and feeding end, and the middle part of the machine table is provided with a transfer correction platform, a detection platform and a detection assembly corresponding to the detection station. The crankshaft produced by the previous work station and to be detected is introduced into the crankshaft carrier of the feeding assembly, a plurality of crankshaft carriers are linearly conveyed to the lower side of the transfer manipulator in the direction of the machine table under the driving of the feeding transmission belt after being horizontally supported by the crankshaft carrier, the horizontally placed crankshaft is taken off from the crankshaft carrier by the transfer manipulator and horizontally placed on the transfer correction platform, the crankshaft is guided and corrected obliquely by the transfer correction platform, the guided and corrected crankshaft is taken out by the transfer manipulator and rotated to the vertical direction and then moved to the lower side of the detection assembly, the initial position of the crankshaft is detected and positioned by the detection assembly, the crankshaft is vertically inserted into the detection platform by the transfer manipulator after the detection and positioning, the detection platform clamps and corrects the vertical crankshaft from the outside to the inside along the radial direction of the circle, so that the verticality consistency is maintained and the positional accuracy during the detection process is ensured; the detection platform drives the clamped and positioned crankshaft to rotate and move in the horizontal plane and along the linear direction during the detection process, so that the crankshaft towards the detection assembly continuously changes the position and angle, so as to realize 360° full coverage detection of the crankshaft, realize multi-direction and position detection through a detection platform, effectively improve the detection efficiency, and reduce the equipment manufacturing cost; the crankshaft after the detection is taken out by the transfer manipulator and moved to the lower side of the frame loading and transferring assembly, the crankshaft is placed in the material frame of the material frame discharging assembly after being taken out by the frame loading and transferring assembly, the frame loading and transferring assembly rotates the crankshaft from the vertical direction to the horizontal direction and then places it in the material frame of the material frame discharging assembly, a single material frame is loaded with the crankshafts, the frame loading and transferring assembly lifts the material frame loaded with the crankshafts and moves it from one feeding channel of the material frame discharging assembly to another feeding channel, and the cycle is repeated until a predetermined number of material frames are stacked and placed on the other feeding channel, the material frame discharging assembly linearly transfers the stacked and placed material frames to the feeding roller table, and the feeding roller table concentrates the feeding.

[0092] Example 2: As Figures 5 to 7 As shown in the figure, as an embodiment of the present invention, the feeding assembly 3 of this embodiment includes a feeding bracket 31, a feeding support 32, a feeding drive component, and an air knife cleaning component. The feeding bracket 31 is mounted on the outer side of one end of the machine base 1; the feeding support 32 is horizontally mounted on the feeding bracket 31; the feeding drive component is mounted on the feeding support 32 and moves back and forth in a straight line to pick up the crankshaft 0 and drive it towards the machine base; the air knife cleaning component is mounted above the feeding drive component and is used to clean the crankshaft 0. The crankshaft 0 is cleaned by air blowing during transmission; the feeding drive includes a feeding motor 33, a feeding transmission belt 34, and a crankshaft carrier 35. The feeding motor 33 is located on one side of the feeding support 32 and is arranged horizontally along the output shaft. The feeding transmission belt 34 is horizontally arranged on the feeding support 32, tensioned by rollers arranged horizontally on both sides of the feeding support 32, and connected to the output shaft of the feeding motor 33. When the output shaft of the feeding motor 33 rotates, it drives the upper and lower layers of the feeding transmission belt 34 to circulate continuously. Linear motion; the crankshaft carrier 35 includes at least two, which are spaced apart on the feeding conveyor belt 34. The crankshaft carrier 35 has a U-shaped block structure with its opening facing upwards on the feeding conveyor belt 34 and is locked and fixed to the feeding conveyor belt 34 through locking holes at the bottom. The upper two sides of the crankshaft carrier 35 are respectively provided with downwardly recessed support grooves A, which are arc-shaped groove structures used to support the crankshaft journal 01; an auxiliary support plate is also provided on the outer side of one side of the vertical support plate of the crankshaft carrier 35. A gap is left between the auxiliary support plate and the vertical support plate to form a groove B for embedding the crank 02. The auxiliary support plate has an inwardly recessed groove for supporting the connecting shaft on the crank 02. The air knife cleaning component includes an air knife bracket 36 and an air knife 37. The air knife bracket 36 is mounted on the feeding conveyor belt 34. The air knife 37 includes at least two air knives. The bottom of the air knife 37 has a strip-shaped air port for discharging high-pressure air downwards to clean the crankshaft 0 that the feeding conveyor belt 34 passes through.

[0093] Furthermore, to address the issue of continuous material feeding to improve feeding efficiency, the discharge assembly of this invention employs a method of fixing multiple crankshaft carriers at intervals on the feeding conveyor belt. After multiple crankshaft carriers receive crankshafts exported from the previous workstation, they are driven forward by the feeding conveyor belt. The next empty crankshaft carrier continues to receive material. As the feeding conveyor belt continues to move forward, the crankshafts are transported one by one to the area below the transfer robot. After the transfer robot removes the crankshafts, the empty crankshaft carriers are cyclically moved to the receiving position, realizing continuous cyclic feeding and effectively improving feeding efficiency.

[0094] Example 3: As Figures 10 to 13As shown, as one embodiment of the present application, the transfer robot 4 of the embodiment comprises a transfer bracket 41, a horizontal moving module 42, a vertical moving module 43, a first vertical moving bracket 44, a first carrying assembly and a second carrying assembly, wherein the transfer bracket 41 is arranged on the machine table 1; the horizontal moving module 42 is horizontally arranged on the transfer bracket 41 and outputs power in the horizontal direction; the vertical moving module 43 is connected to the output end of the horizontal moving module 42 and outputs linear power in the vertical direction; the first vertical moving bracket 44 is horizontally arranged on the output end of the vertical moving module 43; the first carrying assembly and the second carrying assembly are respectively and separately arranged on the first vertical moving bracket 44, the first carrying assembly is used to take out the crankshaft 0 from the feeding assembly 3 and carry the crankshaft 0 to the transfer correction platform 5, and the second carrying assembly is used to take and place the crankshaft 0 at the transfer correction platform 5 and the detection platform 6; the first carrying assembly comprises a lifting cylinder 45, a second vertical moving bracket 46 and a taking head 47, wherein the lifting cylinder 45 is vertically arranged on the side wall of the first vertical moving bracket 44, and the output end is arranged downward; the second vertical moving bracket 46 is slidably connected to the side wall of the first vertical moving bracket 44 and connected to the output end of the lifting cylinder 45; the taking head 47 is arranged on the second vertical moving bracket 46; the second carrying assembly comprises at least two groups of taking heads 47, which are separately arranged on the second vertical moving bracket 46 and used to take and place the crankshaft 0 in linkage; the taking head 47 comprises a rotating cylinder 471, a taking cylinder 472, a taking bracket 473, a clamping cylinder 474 and clamping blocks 475, wherein the rotating cylinder 471 is arranged on the first vertical moving bracket 44 or the second vertical moving bracket 46 and outputs rotary power in the vertical plane; the taking cylinder 472 is arranged on the output end of the rotating cylinder 471 and rotates driven by the rotating cylinder 471; the taking bracket 473 is arranged on the output end of the taking cylinder 472 and moves linearly driven by the taking cylinder 472; the clamping cylinder 474 is arranged on the side wall of the taking bracket 473, and two clamping blocks 475 are connected to the output end of the clamping cylinder 474, the clamping cylinder 474 drives the two clamping blocks 475 to approach or move away from each other, for clamping or releasing the crankshaft 0.

[0095] Further, the crankshaft detection process of the present application involves taking materials, guiding correction before detection, switching from horizontal state of crankshaft feeding to vertical state of detection, continuous linkage transfer of crankshaft between feeding assembly, transfer correction platform, detection platform, and frame loading unloading, etc. The present application designs a transfer manipulator, which takes a transfer support as a bearing structure, drives the linkage of the first carrying assembly and the second carrying assembly to move back and forth along the straight line direction of the feeding of the feeding assembly through a horizontal movement module, the first carrying assembly includes a taking head, and the second carrying assembly includes two taking heads arranged at intervals. The transfer manipulator places the crankshaft on the transfer correction platform after taking the crankshaft from the crankshaft carrier of the feeding assembly through the first carrying assembly, the first taking head of the second carrying assembly takes the crankshaft from the transfer correction platform, rotates the crankshaft to the vertical state, and then moves the crankshaft to the initial position shooting detection positioning below the detection assembly, and then puts the crankshaft into the detection platform; the crankshaft after detection is taken out by the second taking head of the second carrying assembly and moved to the frame loading transfer assembly below to be taken away by the frame loading transfer assembly; the taking head of the first carrying assembly and the two taking heads of the second carrying assembly of the transfer manipulator realize linkage transfer of the crankshaft between the feeding assembly, the transfer correction platform, the detection platform and the frame loading carrying assembly, and synchronously complete the rotation of the crankshaft from the horizontal direction to the vertical direction after inserting into the detection platform, and then rotate to the horizontal direction to load into the frame during the transfer process; the single transfer manipulator completes the automatic carrying and conveying of the crankshaft in multiple positions, and synchronously realizes the switching of the state of the crankshaft during the carrying and conveying process, effectively improves the linkage transfer efficiency of the materials, improves the carrying structure concentration, and reduces the equipment manufacturing cost.

[0096] Example 4: as Figures 14 to 15As shown, as one embodiment of the present application, the intermediate transfer correction platform 5 of the embodiment includes a platform support 51, platform columns 52, a platform base 53, a correction support 54, a pressing component and a guiding component, wherein the platform support 51 is horizontally arranged on the machine table 1; the platform columns 52 include at least two, and the at least two platform columns 52 are vertically arranged on the platform support 51; the platform base 53 is horizontally arranged on the top of the at least two platform columns 52; the correction support 54 is arranged on the platform base 53, and the correction support 54 includes two, the two correction supports 54 are arranged in parallel and spaced apart, and a horizontal support block is arranged between the two correction supports 54; the top of the correction support 54 is provided with a correction trough C of a V-shaped groove structure concave downward, for carrying and supporting the crankshaft journal 01; the crankshaft journal 01 between the two correction supports 54 is supported by the horizontal support block; the pressing component includes two groups, and the two groups of pressing components are arranged on the two sides of the correction support 54 respectively, for pressing the correction support 54 flat; the guiding component is arranged on the outside of one correction support 54, for guiding and correcting the support crank 02; the pressing component includes a flat pressing cylinder 55 and a flat pressing block 56, wherein the flat pressing cylinder 55 is vertically arranged on the platform support 51 and located outside the platform base 53, and the output end of the flat pressing cylinder 55 is arranged upward; the flat pressing block 56 is horizontally connected to the output end of the flat pressing cylinder 55, and the bottom of the flat pressing block 56 is provided with a vertical downward extending pressing rod; the flat pressing cylinder 55 drives the flat pressing block 56 to drive the pressing rod to press the platform base 53 downward, so as to ensure the flatness of the platform base 53; the guiding component includes a guiding support 57 and a guiding block 58, wherein the guiding support 57 is arranged on one side of the platform base 53 and vertically extends upward, and a strip-shaped installation strip groove is formed in one side wall of the guiding support 57; the guiding block 58 is installed in the installation strip groove on the side of the guiding support 57, and an inclined guiding slope is arranged on one side of the top of the guiding block 58 close to the correction trough C, for supporting and guiding the crank 02.

[0097] Further, due to the irregular shape of the crank of the crankshaft, the rotation positions of the crank of the crankshaft horizontally guided out by the discharging assembly are inconsistent, and there is a difference in position angle, in order to ensure the consistency of the initial position and angle for subsequent detection, the position and angle of the crank in the horizontal state need to be corrected before detection; the present application designs an intermediate transfer correction platform to correct the initial position of the crank in the horizontal state; the intermediate transfer manipulator places the crank in the horizontal state taken out from the feeding assembly in the correction trough of the correction support of the intermediate transfer correction platform, carries and supports the crank journal of the crank in the form of a bar structure through the correction trough, and makes the crank journal in a movable state; through the guiding block arranged on the side of the correction support, and the inclined guiding slope arranged corresponding to the correction trough, when the crank is placed in the correction trough, the position angle of the crank is automatically guided and corrected through the guiding slope, and the angle correction of the crank in the horizontal state is completed, so as to ensure the consistency of the angle after the intermediate transfer manipulator takes the material.

[0098] Example 5: Figures 16 to 17 , Figures 23 to 24 As shown in the figure, as an embodiment of the present invention, the detection component 7 of this embodiment includes a detection support column 71, a first detection element, and a second detection element. The detection support column 71 is vertically arranged on the machine base 1 and located on the side of the detection platform 6. The first detection element and the second detection element are respectively fixed on the detection support column 71 and are respectively located on both sides of the detection support column 71. The first detection element is used for incoming material detection, and the second detection element is used for detecting the crankshaft 0 on the detection platform 6. The first detection element includes a detection mounting base 72, a first CCD 73, and a first aperture 74. The detection mounting base 72 is arranged on the detection support column 71. The first CCD 73 and the first aperture 74 are spaced apart in the vertical direction on the side wall of the detection mounting base 72. The lens direction of the first CCD 73 is downward and is used to photograph and position the crankshaft 0.

[0099] The first detection component includes a detection mounting base 72, a first CCD 73, and a first aperture 74. The detection mounting base 72 is mounted on a detection support column 71. The first CCD 73 and the first aperture 74 are spaced vertically on the side wall of the detection mounting base 72, with the lens of the first CCD 73 facing downwards for capturing images of the positioning crankshaft 0. The second detection component includes a CCD support 75, a second CCD 76, a detection cylinder 77, a light source shield 78, and a second aperture 79. The CCD support 75 is mounted on the detection support column 71. The second CCD 76 is mounted on the side wall of the CCD support 75, with its lens facing the detection platform 6. The system is horizontally positioned; the detection cylinder 77 is located below the second CCD 76 and connected to the side wall of the CCD support 75; the light source shield 78 is located on the output end of the detection cylinder 77 and outside the second CCD 76. The light source shield 78 has a semi-circular shield structure, and its side wall has a light source through hole F corresponding to the second CCD 76. The light source shield 78 is driven by the detection cylinder 77 to move horizontally in a straight line; the second aperture 79 is horizontally positioned inside the light source shield 78 and below the light source through hole F. During the detection process, the light source shield 78 drives the second aperture 79 to move above the detection platform 6 to assist in illuminating the crankshaft 0 during the detection of the second CCD 76.

[0100] Furthermore, the detection platform and detection components of this invention are used to perform detection. Given the irregular structure of the crankshaft, the detection process requires full 360° coverage of the crankshaft. Based on this, the detection platform of this invention uses a vertical insertion method to support the crankshaft to be detected. A detection rotary motor provides rotational power in the horizontal plane, used to adjust the angle of the crankshaft in real time during the detection process, allowing the detection component to capture images in real time until a full rotation completes the 360° detection of the crankshaft. A detection adjustment cylinder on the detection rotary motor provides linear power in the horizontal plane, used to adjust the linear distance between the cylinder and the detection component during the detection process to accommodate crankshafts of different sizes. Notably, the detection adjustment cylinder of this invention is equipped with a detection clamping cylinder for detection... The clamping cylinder has a circular structure and includes multiple output ends along the radial direction of the circle. Multiple clamping sliders are respectively connected to the output ends of the detection clamping cylinder and are driven by the detection clamping cylinder to move synchronously in and out of the circle in the radial direction. Furthermore, the clamping slider of the present invention is horizontally provided with a fan-shaped detection clamping block. Between two adjacent detection clamping blocks, there are first clamping grooves and second clamping grooves extending in the radial direction of the circumference, respectively. The first clamping grooves and second clamping grooves are arranged vertically and vertically. When the detection clamping block moves towards the center of the circle in the radial direction with the clamping slider, the first clamping grooves and second clamping grooves engage with each other to limit and guide the moving detection clamping blocks during the process of clamping the crankshaft inward between the two adjacent detection clamping blocks. While achieving the clamping and fixing of the crankshaft, the verticality of the crankshaft is effectively guaranteed. Furthermore, based on the requirements of crankshaft inspection process, the inspection component of the present invention uses a vertically arranged inspection support as a load-bearing structure. A first inspection element and a second inspection element are respectively arranged on different sides of the inspection support. The first inspection element is used to perform initial position and angle imaging inspection on the crankshaft inserted into the inspection platform, so as to send the position and angle information to the industrial control computer to ensure the consistency of the position and angle of the crankshaft after the transfer robot is inserted into the inspection platform. The second inspection element is horizontally arranged on the side of the inspection platform, and the straight distance between it and the inspection platform is adjusted along the straight line direction of the inspection platform to adjust the inspection imaging focal length.

[0101] Example 6: As Figures 25 to 38 As shown in the figure, as an embodiment of the present invention, the unloading part of this embodiment includes a frame transfer assembly 8, a frame discharge assembly 9, and a unloading roller table 10. The frame discharge assembly 9 is disposed on the side of the detection platform 6 and includes at least two parallel feeding channels. The frame transfer assembly 8 is mounted above the frame discharge assembly 9 and is used to move the crankshaft 0 and transfer the frame 92 between different feeding channels. The unloading roller table 10 is disposed inside the frame discharge assembly 9 and is used to unload the frame 92 loaded with the crankshaft 0 and stacked vertically.

[0102] The material frame discharging assembly 9 comprises a discharging table 91 and a material frame 92. The discharging table 91 comprises two discharging tables 91 which are arranged side by side and spaced apart on the outer side of the machine table 1, and form two linearly extending feeding channels respectively. One of the feeding channels is used for stacking the empty material frames 92, and the other feeding channel is used for stacking the full material frames 92 loaded with the crankshafts 0. The frame transferring assembly 8 puts the crankshafts 0 into the empty material frames 92, and moves the full material frames loaded with the crankshafts 0 to the other feeding channel for stacking. The discharging table 91 comprises a discharging support table 911, a discharging roller 912, a discharging slide rail 913, a discharging motor 914, a discharging transmission belt 915, a discharging slide seat 916, a clamping cylinder 917 and a blocking block 918. The discharging support table 911 is horizontally arranged on the outer side of the machine table 1. The discharging support table 911 is provided with a first buffer station and a second buffer station. The clamping cylinder 917 is arranged between the first buffer station and the second buffer station, and is used for blocking the material frame 92. The clamping cylinder 917 is arranged between the discharging support table 911 and the machine table 1, and is used for blocking the material frame 92. The discharging roller 912 comprises two rows of discharging rollers which are arranged in parallel and spaced apart on the discharging support table 911, and are used for supporting the material frame 92 from both sides. The discharging slide rail 913 is horizontally arranged on the discharging support table 911. The discharging slide seat 916 is slidably arranged on the discharging slide rail 913, and the material frame 92 is placed on the discharging slide seat 916. The discharging motor 914 is arranged at one end of the discharging support table 911, and the output end penetrates through the discharging support table 911. The discharging transmission belt 915 is arranged on the discharging support table 911, and is connected with the output end of the discharging motor 914. The discharging motor 914 drives the discharging transmission belt 915 to drive the discharging slide seat 916 to move linearly, so that the discharging slide seat 916 drives the material frame 92 to move between the first buffer station and the second buffer station. The blocking block 918 comprises at least two blocking blocks which are arranged at both ends of the discharging support table 911, and are used for blocking the material frame 92. The material frame 92 comprises a frame body 921, a handle 922, a support rib frame 923 and a support block 924. The frame body 921 is a rectangular frame structure, and the inside of the frame body 921 is a storage space. The handle 922 comprises at least two handles which are arranged at four sides of the frame body 921, and extend upward, and are used for lifting the frame body 921 and guiding and limiting when the frame body 921 is stacked. The support rib frame 923 is arranged in the storage space of the frame body 921, and forms a support plane in the material frame. The support rib frame 923 is provided with at least two through grooves G which are arranged in the support plane, and are used for horizontally placing the crankshaft 0. The inner side wall of the through groove G is provided with the support block 924 which extends into the through groove G, and forms a groove body which is concave downward between the support block 924 and the inner side wall of the through groove G, and is used for embedding and clamping the horizontally placed crankshaft journal 01. The two side walls of the through groove G are provided with recesses which are concave inward, and are used for embedding and clamping the crank 02.

[0103] The frame loading and transferring assembly 8 comprises a first transferring linear module 81, a second transferring linear module 82, a U-shaped support 83, a carrying head 84 and a frame taking head 85. The first transferring linear module 81 is arranged above the discharging table 91. The second transferring linear module 82 is arranged on the first transferring linear module 81 and outputs linear power in a direction perpendicular to the first transferring linear module 81. The U-shaped support 83 is arranged on the second transferring linear module 82 and connected with the output end of the second transferring linear module 82. The carrying head 84 and the frame taking head 85 are arranged on the two sides of the U-shaped support 83 respectively and move synchronously with the U-shaped support 83. The carrying head 84 is used for clamping and placing the crankshaft 0 into the material frame 92. The frame taking head 85 is used for transferring the material frame 92 between different feeding channels. The carrying head 84 comprises a carrying sliding rail 841, a carrying cylinder 842, a carrying sliding seat 843, a clamping cylinder 844 and a clamping block 845. The carrying sliding rail 841 is arranged vertically on one side wall of the U-shaped support 83. The carrying cylinder 842 is arranged above the carrying sliding rail 841 and the output end thereof is arranged downward. The carrying sliding seat 843 is slidably connected with the carrying sliding rail 841 and connected with the output end of the carrying cylinder 842. The clamping cylinder 844 is arranged on the carrying sliding seat 843 and the output end thereof is arranged downward. The clamping block 845 is connected with the output end of the clamping cylinder 844 and is driven by the clamping cylinder 844 to clamp or release the crankshaft 0. The frame taking head 85 comprises a frame taking support 851, a frame taking sliding rail 852, a frame taking cylinder 853, a frame taking sliding seat 854, a connecting block 855, a connecting column 856 and a frame taking inserting block 857. The frame taking support 851 is arranged on the linear module arranged on the side wall of the U-shaped support 83 and is driven by the linear module to move up and down. The frame taking sliding rail 852 is arranged on the frame taking support 851. The frame taking cylinder 853 is arranged on the frame taking support 851 and outputs power horizontally at both ends. The frame taking sliding seat 854 comprises two blocks. The two frame taking sliding seats 854 are respectively connected with the output ends of the two ends of the frame taking cylinder 853 and are slidably connected with the frame taking sliding rail 852. The frame taking cylinder 853 drives the two frame taking sliding seats 854 to move linearly. The connecting block 855 is arranged on the top of the outer end of the frame taking sliding seat 854. The connecting column 856 comprises at least two columns. The at least two connecting columns 856 are vertically connected with the bottom of the outer end of the frame taking sliding seat 854. The top of the frame taking inserting block 857 is provided with an inwardly recessed mounting groove. The top of the mounting groove is open. The at least two connecting columns 856 are vertically connected with the bottom of the mounting groove. The outer side wall of the frame taking inserting block 857 is provided with a horizontally outwardly extending supporting piece part for being inserted into the handle 922 of the material frame 92 horizontally and for supporting and lifting the handle 922 to lift the material frame 92.

[0104] Further, to adapt to the production capacity demand of the automatic production line of the crankshaft, the application has the functions of 360° full-angle automatic detection of the crankshaft and circulating frame loading and storage. The rear end of the detection platform is sequentially provided with a frame discharging assembly and a discharging roller table. The frame discharging assembly comprises two discharging tables arranged in parallel and at intervals. Two feeding channels extending in a straight line are respectively formed on the two discharging tables. One of the two feeding channels is used for stacking a plurality of empty frames in a vertical direction. The empty frames are conveyed from the outside to the inside of the discharging table to the direction of the transfer manipulator. The other feeding channel conveys power in the reverse direction and is used for stacking a plurality of full crankshaft frames in a vertical direction. The frame loading and transfer assembly arranged above the frame discharging assembly is used to take out the full crankshaft frames from the transfer manipulator and place the good crankshaft frames in the empty frames in one feeding channel. When the frame is full of crankshafts, the frame loading and transfer assembly carries the full frame to the other feeding channel and stacks the full frame in a vertical direction. The cycle is repeated until all the empty frames are full and stacked. Then, the discharging table moves the full frames stacked in a vertical direction to the discharging roller table. The full frames are guided out through the discharging roller table. At the same time, another group of empty frames is guided into the transfer manipulator from the discharging roller table in the reverse direction. Thus, continuous frame loading and storage and discharging are realized. The continuous non-stop frame loading and storage and discharging of the crankshaft reduces the standby time and improves the production efficiency of the crankshaft.

[0105] Embodiment 7: As an embodiment of the application, the application discloses a detection and frame loading process of a crankshaft automatic detection and frame loading machine, which comprises the following process steps:

[0106] S1, crankshaft loading: the crankshaft to be detected is placed on the crankshaft carrier of the loading assembly. The loading transmission belt drives the crankshaft carrier to move towards the transfer manipulator.

[0107] S2, crankshaft transfer: after the crankshaft carrier in step S1 drives the crankshaft to move below the transfer manipulator, the first carrying assembly of the transfer manipulator takes out the crankshaft from the crankshaft carrier and carries it to the transfer correction platform.

[0108] S3, crankshaft guide correction: the transfer correction platform in step S2 horizontally bears the crankshaft and controls the bearing flatness through the compression part. The crank is guided through the inclined guide slope of the guide part.

[0109] S4, crankshaft rotation and transfer: after the crankshaft in step S3 is guided and corrected, it is taken out by the second carrying assembly of the transfer manipulator and rotated from the horizontal direction to the vertical direction.

[0110] S5, loading detection: after the transfer manipulator in step S4 rotates the crankshaft to the vertical direction, it drives the crankshaft to move below the detection assembly for initial position detection and positioning of the crankshaft.

[0111] S6, the crankshaft clamping correction positioning: after the crankshaft position detection positioning in step S5 is completed, the transfer manipulator carries the crankshaft into the detection platform, and the crank is inserted into the detection platform upwards, the detection platform synchronously clamps, corrects and positions the crankshaft along the radial direction of the circle;

[0112] S7, the crankshaft detection: after the crankshaft completes the clamping positioning in step S6, the detection mechanism moves linearly along the direction of the detection platform, adjusts the detection distance, and detects the vertically inserted crankshaft on the detection platform; the detection platform synchronously rotates and moves linearly to realize 360° shooting detection of the crankshaft;

[0113] S8, the crankshaft unloading transfer: after the crankshaft detection in step S7 is completed, the transfer manipulator takes out the detected crankshaft, rotates to the horizontal direction, and then moves to below the frame loading and transferring assembly;

[0114] S9, the crankshaft frame loading: after the frame loading and transferring assembly takes out the crankshaft from the transfer manipulator in step S8, the crankshaft is moved and placed into the frame outfeed assembly one feeding channel into the upper and lower stacked frame, until the frame is filled;

[0115] S10, the frame transfer stacking: after the frame in step S9 is filled with crankshafts, the frame loading and transferring assembly takes out the frame filled with crankshafts from the frame outfeed assembly one feeding channel and stacks it into another feeding channel;

[0116] S11, the frame unloading: the steps S9 to S10 are repeated until the upper and lower stacked frames in the other feeding channel of the frame outfeed assembly reach a predetermined number, then the frame outfeed assembly unloading table transports the stacked frames to the unloading roller table to complete the unloading.

[0117] The embodiments of the present application are only to introduce the specific implementation, not to limit the protection scope. The skilled in the art can make some modifications under the inspiration of the embodiments, so that any equivalent changes or modifications made according to the patent scope of the present application shall be within the scope of the patent claims of the present application.

Claims

1. A crankshaft automatic detection frame mounting machine, comprising a machine table (1) and a machine cover (2), the machine table (1) is horizontally arranged, and the machine cover (2) is arranged on the machine table (1), characterized in that: It also includes a feeding assembly (3), a transfer manipulator (4), a transfer correction platform (5), a detection platform (6), a detection assembly (7) and a discharging part, wherein, The machine table (1) is provided with a detection station and a storage station; the crankshaft (0) comprises a crankshaft journal (01) and a crank (02); the crankshaft journal (01) is a rod-shaped structure, and the crank (02) is a sheet-shaped structure, one side of the crank (02) being connected perpendicularly to the rod body of the crankshaft journal (01) and extending along a plane perpendicular to the crankshaft journal (01), the other side of the crank (02) being provided with an outwardly extending connecting shaft perpendicular to the eccentric direction of the crankshaft journal (01); The feeding assembly (3) and the discharging part are respectively arranged at both ends of the machine table (1) and are respectively located at the detection station and the storage station, the feeding assembly (3) being used for automatically guiding the feeding of the crankshaft (0) to be detected, and the discharging part being used for storing and centrally guiding the discharge of the detected crankshaft (0); The transfer manipulator (4) is arranged on one side of the feeding assembly (3) and is used for clamping the crankshaft (0) from the feeding assembly (3) and then moving the crankshaft (0) to the transfer correction platform (5); The transfer correction platform (5) and the detection platform (6) are arranged at the detection station, the transfer correction platform (5) being used for correcting the angle and flatness of the crankshaft (0), the detection platform (6) being used for bearing the corrected crankshaft (0), and the detection assembly (7) being arranged above the detection platform (6) and being used for detecting the appearance of the crankshaft (0); The detection platform (6) comprises a detection support (61), a detection rotary motor (62), a detection rotary support (63), a detection adjusting cylinder (64) and a detection clamping piece, wherein the detection support (61) is arranged on the machine table (1); the detection rotary motor (62) is arranged at the lower part of the detection support (61), and the output end thereof extends upwards through the detection support (61); the detection rotary support (63) is horizontally arranged above the detection support (61) and is connected with the output end of the detection rotary motor (62), and is driven by the detection rotary motor (62) to rotate in the horizontal plane; the detection adjusting cylinder (64) is arranged on the detection rotary support (63), and the detection adjusting cylinder (64) outputs linear power for adjusting the linear position of the detection clamping piece arranged thereon; the detection clamping piece comprises a detection clamping cylinder (65), a clamping sliding block (66) and a detection clamping block (67), wherein the detection clamping cylinder (65) is arranged on the output end of the detection adjusting cylinder (64), and the output end thereof is arranged upwards; the clamping sliding block (66) comprises at least two blocks, the at least two clamping sliding blocks (66) are arranged on the detection clamping cylinder (65) in the circumferential direction and are respectively connected with the output end of the detection clamping cylinder (65), the middle part of the at least two clamping sliding blocks (66) forms a circular clamping hole in the folded state, for vertically inserting the crankshaft journal (01), and the detection clamping cylinder (65) synchronously drives the at least two clamping sliding blocks (66) to move linearly along the circumferential radial direction, for clamping and fixing the crankshaft journal (01); a first clamping groove (D) or a second clamping groove (E) is arranged on the side edge of the clamping sliding block (66) in the radial direction, and the first clamping groove (D) and the second clamping groove (E) are arranged on the side edge of the clamping sliding block (66) in the radial direction, and the first clamping groove (D) and the second clamping groove (E) are arranged in the up-down direction, so as to be embedded and guided in the clamping process.

2. The automatic frame assembling machine for crankshaft according to claim 1, characterized in that: The feeding assembly (3) comprises a feeding support (31), a feeding support (32), a feeding driving piece and an air knife cleaning piece, wherein the feeding support (31) is erected on one end of the machine table (1); the feeding support (32) is horizontally arranged on the feeding support (31); the feeding driving piece is arranged on the feeding support (32) and moves linearly back and forth in a linear direction, for picking up the crankshaft (0) and driving the crankshaft (0) to transmit to the machine table; the air knife cleaning piece is erected above the feeding driving piece, for blowing and cleaning the crankshaft (0) in transmission; The feeding driving element comprises a feeding motor (33), a feeding transmission belt (34) and a crankshaft carrier (35). The feeding motor (33) is arranged on one side of the feeding support table (32) and arranged along the output shaft in the horizontal direction. The feeding transmission belt (34) is horizontally arranged on the feeding support table (32) and is tensioned by the rollers horizontally arranged on both sides of the feeding support table (32) and connected with the output shaft of the feeding motor (33). When the output shaft of the feeding motor (33) rotates, it drives the upper and lower belt bodies of the feeding transmission belt (34) to move in a straight line in a cycle. The crankshaft carrier (35) comprises at least two crankshaft carriers (35) which are arranged on the feeding transmission belt (34) at intervals. The crankshaft carrier (35) is a U-shaped block structure, the opening of which is arranged upwards on the feeding transmission belt (34) and is locked and fixed with the feeding transmission belt (34) through the locking hole formed at the bottom. The vertical support plates on both sides of the upper part of the crankshaft carrier (35) are respectively provided with downwardly recessed support grooves (A) which are circular arc groove structures for bearing and supporting the crankshaft journal (01). The outer side of the vertical support plate on one side of the crankshaft carrier (35) is further provided with an auxiliary support plate. A gap is formed between the auxiliary support plate and the vertical support plate to form an embedding groove (B) for embedding the crank (02). A recess is formed in the auxiliary support plate for bearing and supporting the connecting shaft on the crank (02). The air knife cleaning element comprises an air knife support (36) and an air knife (37). The air knife support (36) is arranged on the feeding transmission belt (34). The air knife (37) comprises at least two air knives (37). The bottom of the air knife (37) is provided with a strip-shaped air port for guiding the high-pressure air wall downward to clean the crankshaft (0) passing through the feeding transmission belt (34) below.

3. The automatic frame mounting machine for crankshaft according to claim 1, characterized in that: The transfer manipulator (4) comprises a transfer support (41), a horizontal movement module (42), a lifting module (43), a first lifting support (44), a first carrying assembly and a second carrying assembly. The transfer support (41) is arranged on the machine table (1). The horizontal movement module (42) is horizontally arranged on the transfer support (41) and outputs power in the horizontal direction. The lifting module (43) is connected to the output end of the horizontal movement module (42) and outputs linear power in the vertical direction. The first lifting support (44) is horizontally arranged on the output end of the lifting module (43). The first carrying assembly and the second carrying assembly are arranged on the first lifting support (44) at intervals. The first carrying assembly is used to take out the crankshaft (0) from the feeding assembly (3) and carry the crankshaft (0) to the transfer correction platform (5). The second carrying assembly is used to take and place the crankshaft (0) on the transfer correction platform (5) and the detection platform (6). The first carrying assembly comprises a lifting cylinder (45), a second lifting support (46) and a material taking head (47), wherein the lifting cylinder (45) is vertically arranged on the side wall of the first lifting support (44) with the output end downward; the second lifting support (46) is slidably connected to the side wall of the first lifting support (44) and connected to the output end of the lifting cylinder (45); the material taking head (47) is arranged on the second lifting support (46); The second carrying assembly comprises at least two groups of material taking heads (47), which are arranged on the second lifting support (46) at intervals and used for taking and placing the crankshaft (0) in linkage; The material taking head (47) comprises a rotating cylinder (471), a material taking cylinder (472), a material taking support (473), a material clamping cylinder (474) and clamping blocks (475), wherein the rotating cylinder (471) is arranged on the first lifting support (44) or the second lifting support (46) and outputs rotating power in the vertical plane; the material taking cylinder (472) is arranged on the output end of the rotating cylinder (471) and rotates driven by the rotating cylinder (471); the material taking support (473) is arranged on the output end of the material taking cylinder (472) and moves linearly driven by the material taking cylinder (472); the material clamping cylinder (474) is arranged on the side wall of the material taking support (473), and two clamping blocks (475) are connected to the output end of the material clamping cylinder (474), the material clamping cylinder (474) drives the two clamping blocks (475) to approach or move away from each other for clamping or releasing the crankshaft (0).

4. The automatic frame mounting machine for crankshaft according to claim 1, characterized in that: The transfer correction platform (5) comprises a platform support (51), platform columns (52), a platform seat (53), a correction support (54), a pressing component and a guiding component, wherein the platform support (51) is horizontally arranged on the machine table (1); the platform columns (52) comprise at least two, and the at least two platform columns (52) are vertically arranged on the platform support (51); the platform seat (53) is horizontally arranged on the top of the at least two platform columns (52); the correction support (54) is arranged on the platform seat (53) and comprises two, the two correction supports (54) are arranged in parallel at intervals and have a horizontal support block therebetween, the top of the correction support (54) is provided with a correction groove (C) of V-shaped groove structure concave downward for bearing and supporting the crankshaft journal (01), and the crankshaft journal (01) between the two correction supports (54) is supported by the horizontal support block; the pressing component comprises two groups, and the two groups of pressing components are arranged on the two sides of the correction support (54) respectively for flattening the correction support (54); the guiding component is arranged at intervals on the outside of one correction support (54) for guiding and supporting the crank (02). The pressing component comprises a flat pressing cylinder (55) and a flat pressing block (56), wherein the flat pressing cylinder (55) is vertically arranged on the platform support (51) and located outside the platform base (53), and the output end of the flat pressing cylinder (55) is arranged upwards; the flat pressing block (56) is horizontally connected to the output end of the flat pressing cylinder (55), and the bottom of the flat pressing block (56) is provided with a vertical downward extending pressing rod; the flat pressing cylinder (55) drives the flat pressing block (56) to drive the pressing rod to press the platform base (53) downwards, so as to ensure the flatness of the platform base (53); The guiding component comprises a guiding support (57) and a guiding block (58), wherein the guiding support (57) is arranged on one side of the platform base (53) and vertically extends upwards, and a strip-shaped installation strip groove is formed in one side wall of the guiding support (57); the guiding block (58) is installed in the installation strip groove on the side of the guiding support (57), and an inclined guiding slope is arranged on the top of the guiding block (58) and close to one side of the correction material groove (C), which is used for supporting the guiding crank (02).

5. The automatic frame assembly machine for a crankshaft according to claim 1, characterized in that: The detection assembly (7) comprises a detection support (71), a first detection member and a second detection member, wherein the detection support (71) is vertically arranged on the machine table (1) and located on the side of the detection platform (6); the first detection member and the second detection member are respectively fixed on the detection support (71) and respectively located on the two sides of the detection support (71), the first detection member is used for incoming material detection, and the second detection member is used for detecting the crankshaft (0) on the detection platform (6). The first detection member comprises a detection mounting seat (72), a first CCD (73) and a first aperture (74), wherein the detection mounting seat (72) is arranged on the detection support (71); the first CCD (73) and the first aperture (74) are arranged on the side wall of the detection mounting seat (72) in a vertical direction, and the lens direction of the first CCD (73) is arranged downwards, which is used for shooting the positioning crankshaft (0).

6. The automatic frame mounting machine for crankshaft according to claim 5, characterized in that: The second detection member comprises a CCD support (75), a second CCD (76), a detection cylinder (77), a light source cover (78) and a second aperture (79), wherein the CCD support (75) is arranged on the detection support column (71); the second CCD (76) is arranged on the side wall of the CCD support (75), and the lens direction is horizontally arranged towards the detection platform (6); the detection cylinder (77) is arranged below the second CCD (76) and connected to the side wall of the CCD support (75); the light source cover (78) is arranged on the output end of the detection cylinder (77) and located outside the second CCD (76), the light source cover (78) is a semicircular cover structure, a light source through hole (F) is formed in the side wall of the light source cover (78) corresponding to the second CCD (76), and the light source cover (78) is driven by the detection cylinder (77) to move horizontally and linearly; the second aperture (79) is horizontally arranged in the light source cover (78) and located below the light source through hole (F), during the detection process, the light source cover (78) drives the second aperture (79) to move above the detection platform (6), and the second aperture (79) assists in lighting on the crankshaft (0) during the detection of the second CCD (76).

7. The automatic frame mounting machine for crankshaft according to claim 1, characterized in that: The unloading part comprises a frame loading and transferring assembly (8), a frame discharging assembly (9) and an unloading roller table (10), wherein the frame discharging assembly (9) is arranged on the side of the detection platform (6), the frame discharging assembly (9) comprises at least two parallel arranged feeding channels; the frame loading and transferring assembly (8) is arranged above the frame discharging assembly (9) and is used for moving the crankshaft (0) and transferring the frame (92) between different feeding channels; the unloading roller table (10) is arranged in the frame discharging assembly (9) and is used for guiding the unloaded frame (92) which is stacked up and down after loading the crankshafts (0).

8. The automatic frame mounting machine for crankshaft according to claim 7, characterized in that: The frame discharging assembly (9) comprises a discharging table (91) and a frame (92), wherein the discharging table (91) comprises two, the two discharging tables (91) are arranged in parallel and spaced apart on the outside of the machine table (1), and form two feeding channels which extend linearly to the outside of the machine table (1), respectively, in the feeding channels formed on the two discharging tables (91), one feeding channel is used for stacking the empty frame (92) up and down, and the other feeding channel is used for stacking the full frame (92) which loads the crankshafts (0) up and down, the frame loading and transferring assembly (8) puts the crankshafts (0) into the empty frame (92) and moves the frame which loads the crankshafts (0) to the other feeding channel for stacking; The discharge table (91) includes a discharge support table (911), a discharge roller (912), a discharge slide rail (913), a discharge motor (914), a discharge transmission belt (915), a discharge slide seat (916), a clamping cylinder (917), and a blocking block (918). The discharge support table (911) is horizontally arranged outside the machine table (1), and the first and second buffer stations are arranged on the discharge support table (911). The clamping cylinder (917) is arranged between the first and second buffer stations to block the material frame (92). The clamping cylinder (917) is arranged between the discharge support table (911) and the machine table (1) to block the material frame (92). The discharge roller (912) includes two rows, which are arranged in parallel and spaced apart on the discharge support table (911) to support the material frame (92) from both sides. The discharge slide rail (913) is horizontally arranged on the discharge support table (911). The discharge slide seat (916) is slidably arranged on the discharge slide rail (913), and the material frame (92) is placed on the discharge slide seat (916). The discharge motor (914) is arranged at one end of the discharge support table (911), and the output end penetrates the discharge support table (911). The discharge transmission belt (915) is arranged on the discharge support table (911) and connected with the output end of the discharge motor (914). The discharge motor (914) drives the discharge slide seat (916) connected thereto to move linearly, so that the discharge slide seat (916) drives the material frame (92) to move between the first and second buffer stations. The blocking block (918) includes at least two blocks, which are arranged at both ends of the discharge support table (911) to block the material frame (92). The material frame (92) includes a frame body (921), a handle (922), a support rib frame (923), and a support block (924). The frame body (921) is a rectangular frame structure, and the inside of the frame body (921) is a storage space. The handle (922) includes at least two handles, which are arranged at the four sides of the frame body (921) and extend upward, used for lifting the frame body (921) and guiding and limiting when the frame body (921) is stacked. The support rib frame (923) is arranged in the storage space of the frame body (921), and forms a support plane in the storage frame. At least two through grooves (G) are arranged on the support rib frame (923) for horizontally placing the crankshaft (0). The support block (924) is arranged on the inner side wall of the through groove (G) and extends into the through groove (G). The support block (924) and the inner wall of the through groove (G) form a downwardly recessed groove for embedding and clamping the horizontally placed crankshaft journal (01).

9. The automatic frame mounting machine for crankshaft according to claim 7, characterized in that: The frame loading and transferring assembly (8) comprises a first transferring linear module (81), a second transferring linear module (82), a U-shaped support (83), a carrying head (84) and a frame taking head (85), wherein the first transferring linear module (81) is arranged above the discharging table (91); the second transferring linear module (82) is arranged on the first transferring linear module (81) and outputs linear power in a direction perpendicular to the first transferring linear module (81); the U-shaped support (83) is arranged on the second transferring linear module (82) and connected with the output end of the second transferring linear module (82); the carrying head (84) and the frame taking head (85) are arranged on two sides of the U-shaped support (83) respectively and move synchronously with the U-shaped support (83), the carrying head (84) is used for clamping and taking the crankshaft (0) and putting it into the frame (92), and the frame taking head (85) is used for transferring the frame (92) between different feeding channels; The carrying head (84) comprises a carrying sliding rail (841), a carrying cylinder (842), a carrying sliding seat (843), a clamping cylinder (844) and a clamping block (845), wherein the carrying sliding rail (841) is vertically arranged on one side wall of the U-shaped support (83); the carrying cylinder (842) is arranged above the carrying sliding rail (841) and the output end thereof is arranged downward; the carrying sliding seat (843) is slidably connected with the carrying sliding rail (841) and connected with the output end of the carrying cylinder (842); the clamping cylinder (844) is arranged on the carrying sliding seat (843) and the output end thereof is arranged downward; the clamping block (845) is connected with the output end of the clamping cylinder (844) and clamps or releases the crankshaft (0) by the driving of the clamping cylinder (844). The frame taking head (85) comprises a frame taking support (851), a frame taking slide rail (852), a frame taking cylinder (853), a frame taking slide base (854), a connecting block (855), a connecting support (856) and a frame taking inserting block (857), wherein the frame taking support (851) is arranged on a linear module arranged on the side wall of the U-shaped support (83) and is driven to move up and down by the linear module; the frame taking slide rail (852) is arranged on the frame taking support (851); the frame taking cylinder (853) is arranged on the frame taking support (851) and horizontally outputs power at both ends; the frame taking slide base (854) comprises two blocks, the two frame taking slide bases (854) are respectively connected to the output ends of the frame taking cylinder (853) at both ends and are respectively slidably connected to the frame taking slide rail (852), and the frame taking cylinder (853) drives the two frame taking slide bases (854) to move linearly; the connecting block (855) is arranged on the top of the outer end of the frame taking slide base (854); the connecting support (856) comprises at least two, the at least two connecting supports (856) are vertically connected to the bottom of the outer end of the frame taking slide base (854); the top of the frame taking inserting block (857) is provided with an inwardly recessed mounting groove, the top of the mounting groove is open, and the at least two connecting supports (856) are vertically connected to the bottom of the mounting groove; the bottom of the outer side wall of the frame taking inserting block (857) is provided with a horizontally outwardly extending supporting piece part for being horizontally inserted into the handle (922) of the material frame (92) and for supporting the handle (922) to lift the material frame (92) for carrying.

10. A detection framing process of the crankshaft automatic detection framing machine according to claim 1, characterized by, The process comprises the following steps: S1, crankshaft loading: the crankshaft to be detected is placed on the crankshaft carrier of the loading assembly, and the loading transmission belt drives the crankshaft carrier to move towards the intermediate manipulator; S2, crankshaft transfer: after the crankshaft carrier in step S1 drives the crankshaft to move below the intermediate manipulator, the first carrying assembly of the intermediate manipulator takes out the crankshaft from the crankshaft carrier and carries it to the intermediate correction platform; S3, crankshaft guide correction: the intermediate correction platform in step S2 horizontally bears the crankshaft, controls the bearing flatness by the compression part, and guides the crank by the obliquely extended guide slope of the guide part; S4, crankshaft rotation and transfer: after the crankshaft in step S3 is guided and corrected, it is taken out by the second carrying assembly of the intermediate manipulator and rotated from the horizontal direction to the vertical direction; S5, loading detection: after the intermediate manipulator in step S4 rotates the crankshaft to the vertical direction, it drives the crankshaft to move below the detection assembly for initial position detection and positioning of the crankshaft; S6, crankshaft clamping correction and positioning: after the crankshaft position detection and positioning in step S5 are completed, the intermediate manipulator carries the crankshaft into the detection platform and inserts the crank upward into the detection platform, and the detection platform synchronously clamps, corrects and positions the crankshaft along the radial direction of the circle; S7, crankshaft detection: after the crankshaft in step S6 is clamped and positioned, the detection mechanism moves linearly along the direction of the detection platform, adjusts the detection distance, and detects the vertically inserted crankshaft on the detection platform; meanwhile, the detection platform is synchronously rotated and moved linearly to realize 360° shooting detection of the crankshaft. S8, crankshaft blanking transfer: after the crankshaft detection is completed in step S7, the transfer manipulator takes out the detected crankshaft and rotates to the horizontal direction and then moves to below the frame loading and transferring assembly; S9, crankshaft frame loading: after the frame loading and transferring assembly in step S8 takes out the crankshaft from the transfer manipulator, the crankshaft is placed in the frame outloading assembly one by one in the supply channel until the frame is full; S10, frame transfer and stacking: after the frame in step S9 is full of crankshafts, the frame loading and transferring assembly takes out the frame full of crankshafts from one supply channel of the frame outloading assembly and stacks it in another supply channel; S11, frame blanking: the steps S9 to S10 are repeated until the number of frames stacked in the other supply channel of the frame outloading assembly reaches the predetermined number, and then the outloading table of the frame outloading assembly transports the stacked frames to the blanking roller table to complete the blanking.

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