Automatic keying device for crankshaft
Patent Information
- Application Number
- CN202522283154.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-29
- Publication Date
- 2026-10-16
- Estimated Expiration
- 2035-10-29
AI Technical Summary
[0002]在曲轴上安装正时链轮或者机油泵链轮的时候，都需要通过半圆键以实现连接，现有一般通过人工将半圆键敲入右半轴的键槽内，但手工敲半圆键存在的劳动强度大，会出现把产品敲坏，且敲出来半圆键的精度不能得到有效保证，不能够一次性把半圆键敲进右半轴的键槽内，大大的增加了加工时间，存在生产效率低等问题，不能满足曲轴大批量的生产和加工
[0014] Compared with the prior art, the beneficial effects of this utility model are: it can realize the automatic feeding of semi-circular keys, and at the same time, it can quickly and accurately press the semi-circular keys onto the right half shaft, effectively improving the pressing efficiency of the semi-circular keys; through the cooperation of vision mechanism and robot arm, it can realize the rapid positioning of the right half shaft, so that after the journal end of the right half shaft that needs to be pressed enters the positioning groove of the positioning table, the keyway on it can correspond to the semi-circular key.
Smart Images
Figure CN224855502U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of crankshaft processing technology, and in particular relates to an automatic crankshaft keying device. Background Technology
[0002] When installing timing sprockets or oil pump sprockets on a crankshaft, a semi-circular key is required for connection. Currently, the semi-circular key is usually hammered into the keyway of the right half-shaft manually. However, manually hammering the semi-circular key is labor-intensive, can damage the product, and the accuracy of the hammered semi-circular key cannot be effectively guaranteed. It is also impossible to hammer the semi-circular key into the keyway of the right half-shaft in one go, which greatly increases the processing time and results in low production efficiency, which cannot meet the needs of large-scale crankshaft production and processing. Utility Model Content
[0003] The purpose of this invention is to provide an automatic crankshaft keying device that can quickly and accurately press semi-circular keys into the keyway of the right half-shaft, effectively improving the pressing efficiency of semi-circular keys.
[0004] This utility model is achieved through the following technical solution: An automatic crankshaft keying device, comprising: The frame, on which trusses are mounted; The loading rack is set on the machine frame and is used to place the right half shaft. The loading rack has a loading groove for the journal end of the right half shaft to pass through. The vision mechanism, located above the loading rack and mounted on the truss, is used to take photos of the right half-axis. The pressing table is set on the machine frame. The pressing table has a material channel and a pressing groove, and the material channel and the pressing groove are connected. The vibrating mechanism is mounted on the frame and includes a vibrating disc. The discharge plate of the vibrating disc is connected to the material channel of the pressing table. A positioning table is mounted on the machine frame and has positioning slots. The robotic arm is equipped with a gripper mechanism for grasping the right half-shaft. The robotic arm is mounted on the frame and is used to place the grasped right half-shaft into the positioning groove and align the keyway of the right half-shaft with the pressing groove. The pressing mechanism is mounted on the frame and is used to press the semi-circular key in the pressing groove into the keyway of the right half shaft. The control system is connected to the vision mechanism, the vibrating mechanism, the robot, the gripper mechanism, and the pressing mechanism.
[0005] Furthermore, the frame is provided with a first bracket, the first bracket is provided with a first through hole, and the pressing mechanism includes a pressing cylinder and a pressing strip. The pressing cylinder is set on the first bracket, the telescopic end of the pressing cylinder is connected to the pressing strip, and the pressing strip passes through the first through hole.
[0006] Furthermore, the positioning stage includes a second support and a positioning block. The second support is mounted on the frame, the positioning block is mounted on the second support, and a positioning groove is mounted on the positioning block. The positioning groove is semi-conical in shape.
[0007] Furthermore, the positioning platform also includes a slider and a bolt. The second bracket is provided with a sliding groove, and an elongated hole is opened at the bottom of the sliding groove. The slider is slidably disposed in the sliding groove, and a threaded hole is opened at the position of the slider corresponding to the elongated hole. The bolt passes through the elongated hole and is threadedly connected to the threaded hole.
[0008] Furthermore, the gripper mechanism includes a three-finger cylinder, a first gripping block, a pressure block, a pad, and two second gripping blocks. The three-finger cylinder is mounted on the robotic arm. The first gripping block and the two second gripping blocks are respectively mounted on the three fingers of the three-finger cylinder. The first gripping block is L-shaped. The pressure block is detachably mounted on the bottom end of the first gripping block. There are multiple pads with different thicknesses. Each pad can be selectively mounted between the first gripping block and the pressure block. The second gripping block is C-shaped and includes a first horizontal part, a second horizontal part, and a vertical part connecting the first horizontal part and the second horizontal part. The bottom end of the pressure block away from the first gripping block is recessed inward to form a first notch. The bottom end of the second horizontal part away from the vertical part is recessed inward to form a second notch.
[0009] Furthermore, the top of the three-finger cylinder is equipped with a flange, which is connected to the robotic arm.
[0010] Furthermore, a drive mechanism is provided on the truss, which is connected to the vision mechanism and is used to move the vision mechanism above the loading rack.
[0011] Furthermore, the vision mechanism includes a mounting plate, a camera, and a light source bracket. The mounting plate is connected to the drive mechanism, the camera is mounted on the mounting plate, the light source bracket is located below the camera and mounted on the mounting plate, the light source bracket has a second through hole corresponding to the position of the camera, and a light source is provided on the light source bracket.
[0012] Furthermore, the loading rack is equipped with a first sensor for detecting whether the right half-shaft is in place.
[0013] Furthermore, a second sensor is provided on the press-fit groove to detect whether the semi-circular key is in place.
[0014] Compared with the prior art, the beneficial effects of this utility model are: it can realize the automatic feeding of semi-circular keys, and at the same time, it can quickly and accurately press the semi-circular keys onto the right half shaft, effectively improving the pressing efficiency of the semi-circular keys; through the cooperation of vision mechanism and robot arm, it can realize the rapid positioning of the right half shaft, so that after the journal end of the right half shaft that needs to be pressed enters the positioning groove of the positioning table, the keyway on it can correspond to the semi-circular key. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the automatic crankshaft keying device of this utility model; Figure 2 This is a partial schematic diagram of the automatic crankshaft keying device of this utility model; Figure 3 This is a schematic diagram of the feeding rack in the automatic crankshaft keying device of this utility model; Figure 4 This is a schematic diagram of the press-fitting table in the automatic crankshaft keying device of this utility model; Figure 5 This is a cross-sectional view of the press table in the automatic crankshaft keying device of this utility model; Figure 6 This is a schematic diagram of the use of the positioning platform in the automatic crankshaft keying device of this utility model; Figure 7 This is a schematic diagram of the gripper mechanism in the automatic crankshaft keying device of this utility model; Figure 8 This is a schematic diagram of the gripper mechanism in the automatic crankshaft keying device of this utility model gripping the right half shaft; Figure 9 This is a schematic diagram of the vision mechanism in the crankshaft automatic keying device of this utility model.
[0016] In the diagram, 1-frame, 11-first support, 12-truss, 13-drive mechanism, 2-feeding rack, 21-feeding trough, 22-first sensor, 3-vision mechanism, 31-mounting plate, 32-camera, 33-light source support, 34-light source, 4-pressing table, 41-material channel, 42-pressing groove, 5-vibrating mechanism, 6-positioning table, 61-positioning groove, 62-second support, 63-positioning block, 64-slider, 65-slide groove, 66-elongated hole, 7-robotic arm, 8-gripper mechanism, 81-three-finger cylinder, 82-first clamping block, 83-pressing block, 84-shield, 85-second clamping block, 86-first notch, 87-second notch, 88-flange, 9-pressing mechanism, 91-pressing cylinder, 92-pressing strip, 10-right half-shaft, 20-semi-circular key. Detailed Implementation
[0017] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0018] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0019] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this utility model, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0020] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0021] In the description of this utility model, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0022] Please see Figures 1 to 6 , Figure 1 This is a schematic diagram of the automatic crankshaft keying device of this utility model. Figure 2 This is a partial schematic diagram of the automatic crankshaft keying device of this utility model. Figure 3 This is a schematic diagram of the feeding rack in the automatic crankshaft keying device of this utility model. Figure 4 This is a schematic diagram of the pressing table in the automatic crankshaft keying device of this utility model. Figure 5 This is a cross-sectional view of the press-fitting table in the automatic crankshaft keying device of this utility model. Figure 6This is a schematic diagram illustrating the use of the positioning platform in the automatic crankshaft keying device of this utility model. An automatic crankshaft keying device includes a frame 1, a feeding rack 2, a vision mechanism 3, a pressing platform 4, a vibrating mechanism 5, a positioning platform 6, a robotic arm 7, a pressing mechanism 9, and a control system. The frame 1 is equipped with a truss 12, which supports the feeding rack 2, vision mechanism 3, pressing table 4, vibrating mechanism 5, positioning table 6, robot arm 7, pressing mechanism 9 and control system. The loading rack 2 is set on the frame 1 and is used to place the right half shaft 10. The loading rack 2 has a loading groove 21 for the journal end of the right half shaft 10 to pass through. When placing the right half shaft 10, the shaft diameter end of the right half shaft 10 is passed downward through the loading groove 21, so that the large shank end of the right half shaft 10 is placed on the loading rack 2, that is, the right half shaft 10 is placed upside down on the loading rack 2. The vision mechanism 3 is located above the loading rack 2 and is set on the truss 12. It is used to take a picture of the right half axis 10 and determine the angle compensation based on the picture of the right half axis 10. The pressing table 4 is set on the frame 1. The pressing table 4 has a material channel 41 and a pressing groove 42. The material channel 41 and the pressing groove 42 are connected. The material channel 41 is used to pass through the semi-circular key 20. Its cross-section is square. The width of the material channel 41 matches the width of the horizontal plane and the apex of the arc surface of the semi-circular key 20. After the semi-circular key 20 is removed from the material channel 41, it will enter the pressing groove 42. The length direction of the pressing groove 42 is perpendicular to the length direction of the material channel 41. The vibrating mechanism 5 is mounted on the frame 1. The vibrating mechanism 5 includes a vibrating disc. The discharge plate of the vibrating disc is connected to the material channel 41 of the pressing table 4. The vibrating disc is used to transport the semi-circular key 20 in a specific posture into the material channel 41. The vibrating disc is an existing structure and can be purchased directly on the market. The positioning table 6 is set on the frame 1. The positioning table 6 has a positioning groove 61. The positioning groove 61 is used to place the journal end of the right half shaft 10 and restrict the position of the right half shaft 10, thereby helping to ensure the attitude of the right half shaft 10 and ensuring that the keyway of the right half shaft 10 is aligned with the press-fit groove 42. The robotic arm 7 is equipped with a gripper mechanism 8 for gripping the right half-shaft 10. The robotic arm 7 is mounted on the frame 1 and is used to place the gripped right half-shaft 10 into the positioning groove 61 and make the keyway of the right half-shaft 10 align with the pressing groove 42. The pressing mechanism 9 is mounted on the frame 1 and is used to press the semi-circular key 20 in the pressing groove 42 into the keyway of the right half shaft 10. The control system is connected to the vision mechanism 3, the vibrating mechanism 5, the robot arm 7, the gripper mechanism 8, and the pressing mechanism 9 respectively, and is used to control the vision mechanism 3, the vibrating mechanism 5, the robot arm 7, the gripper mechanism 8, and the pressing mechanism 9.
[0023] The operation of this automatic crankshaft keying device is as follows: When pressing the semi-circular key 20 is required, the right half-shaft 10 is first loaded. This can be done by an external robotic arm 7 or manually, passing the journal end of the right half-shaft 10 downwards through the loading groove 21, and then placing the large shank end of the right half-shaft 10 on the loading rack 2, thus completing the loading of the right half-shaft 10. In one embodiment, the loading rack 2 is equipped with a first sensor 22 for detecting whether the right half-shaft 10 is in place. When the first sensor 22 on the loading rack 2 senses that the right half-shaft 10 is in place and sends a signal, the control system controls the vision mechanism 3 to take a picture of the right half-shaft 10 placed on the loading rack 2. The control system performs visual recognition of the contour based on the picture and performs angle compensation for the right half-shaft 10 based on the visual recognition result. The visual recognition process and angle compensation process are existing technologies and will not be described in detail here. After the vision mechanism 3 completes the photograph of the right half-shaft 10, it automatically moves back to its original position to avoid obstructing the robotic arm 7 from grasping the right shaft. Then, the gripper mechanism 8 on the robotic arm 7 grasps the large shank end of the right half-shaft 10. After the robotic arm 7 performs angle compensation on the right half-shaft 10, it finally places the journal end of the right half-shaft 10 into the positioning groove 61 of the positioning table 6, achieving precise positioning of the right half-shaft 10. At this time, the keyway of the right half-shaft 10 is aligned with the pressing groove 42, and the right half-shaft 10 is fixed on the positioning table 6 by the robotic arm 7 and the gripper mechanism 8. During this process, through the vibration of the vibrating disc, the semi-circular key 20 enters the material channel 41 of the pressing table 4 in a specific posture from the discharge plate of the vibrating disc, and then enters the pressing groove 42 from the material channel 41. At this time, the semi-circular key 20 will maintain a state where the plane faces the pressing mechanism 9. In one embodiment, the pressing groove 42 is provided with a second sensor for detecting whether the semi-circular key 20 is in place. After the second sensor detects that the semi-circular key 20 is in place, it stops the vibrating disc and stops feeding the semi-circular key 20. Finally, the pressing mechanism 9 presses the semi-circular key 20 in the pressing groove 42 into the keyway of the right half-shaft 10, so that the semi-circular key 20 is interference-fitted in the keyway. After the pressing is completed, the robot arm 7 moves the right half-shaft 10 to the next station. At this time, the second sensor detects that there is no semi-circular key 20 in the pressing groove 42, and controls the vibrating plate to continue to feed the semi-circular key 20 into the pressing groove 42.
[0024] In one embodiment, the frame 1 is provided with a first support 11, which has a first through hole. The pressing mechanism 9 includes a pressing cylinder 91 and a pressing strip 92. The pressing cylinder 91 is mounted on the first support 11, and its telescopic end is connected to the pressing strip 92, which passes through the first through hole. By extending the pressing cylinder 91, the pressing strip 92 is driven to move along the pressing groove 42, thereby pushing out the semi-circular key 20 in the pressing groove 42 and pressing it into the keyway of the right half-shaft 10. After pressing is completed, the pressing cylinder 91 retracts, driving the pressing strip 92 out of the pressing groove 42. In one embodiment, the pressing strip 92 includes a cylinder and a cuboid mounted on the cylinder, with the cylinder connected to the telescopic end of the pressing cylinder 91. The bottom surface of the cuboid is about the same size as the plane of the semicircular key 20. When the cuboid pushes the semicircular key 20, the bottom surface of the cuboid will gradually fit into the plane of the semicircular key 20, thereby correcting the position of the semicircular key 20 so that the semicircular key 20 can be pressed into the keyway of the right half shaft 10 in the correct position.
[0025] In one embodiment, the positioning platform 6 includes a second bracket 62 and a positioning block 63. The second bracket 62 is mounted on the frame 1, the positioning block 63 is mounted on the second bracket 62, and a positioning groove 61 is mounted on the positioning block 63. The positioning groove 61 is semi-conical. The positioning block 63 restricts the position of the right half-shaft 10 through the semi-conical positioning groove 61, thereby helping to ensure the attitude of the right half-shaft 10 and ensuring that the keyway of the right half-shaft 10 is aligned with the press-fit groove 42. In one embodiment, the positioning platform 6 also includes a slider 64 and a bolt. The second bracket 62 is provided with a sliding groove 65, and an elongated hole 66 is opened at the bottom of the sliding groove 65. The slider 64 is slidably mounted in the sliding groove 65, and a threaded hole is opened on the slider 64 corresponding to the position of the elongated hole 66. The bolt passes through the elongated hole 66 and is threadedly connected to the threaded hole. The slider 64 can be adjusted in the groove 65 to adjust the installation position of the positioning block 63. This allows the installation position of the positioning block 63 to be adjusted according to the specifications of the journal end of different models of right half shaft 10, so that when the journal end of right half shaft 10 is placed in the positioning groove 61, the keyway on the shaft diameter end of right half shaft 10 can be aligned with the press-fit groove 42, thus making it suitable for different models of right half shaft 10.
[0026] Please refer to the following: Figure 7 and Figure 8 , Figure 7 This is a schematic diagram of the gripper mechanism in the automatic crankshaft keying device of this utility model. Figure 8This is a schematic diagram of the gripper mechanism in the automatic crankshaft keying device of this utility model gripping the right half shaft. In one embodiment, the gripper mechanism 8 includes a three-finger cylinder 81, a first gripping block 82, a pressure block 83, a pad 84, and two second gripping blocks 85. The three-finger cylinder 81 is mounted on the robotic arm 7. The first gripping block 82 and the two second gripping blocks 85 are respectively mounted on the three fingers of the three-finger cylinder 81. The first gripping block 82 is L-shaped. The pressure block 83 is detachably mounted on the bottom end of the first gripping block 82. There are multiple pads 84 with different thicknesses. Each pad 84 can be selectively mounted between the first gripping block 82 and the pressure block 83. The second gripping block 85 is C-shaped and includes a first horizontal portion, a second horizontal portion, and a vertical portion connecting the first horizontal portion and the second horizontal portion. The bottom end of the pressure block 83 away from the first gripping block 82 is recessed inward to form a first notch 86. The bottom end of the second horizontal portion away from the vertical portion is recessed inward to form a second notch 87. The three fingers are extended and retracted by the three-finger cylinder 81, causing the first clamping block 82 and the two second clamping blocks 85 to move closer or further apart. This clamps the side of the large shank end of the right half-shaft 10, simultaneously gripping the side and restricting the bottom surface of the large shank end. Since the bottom surface of the large shank end of the right half-shaft 10 has varying heights, two different clamping blocks are designed. Based on the height distribution of the bottom surface of the right half-shaft 10, the two second clamping blocks 85 are used for clamping and restricting the lower surface points, specifically by using the notch on the second horizontal section to restrict the lower surface of the bottom surface of the large shank end of the right half-shaft 10. The first clamping block 82 is used for clamping and restricting the higher surface points. Specifically, by adjusting the thickness of the shim 84, the clamping height of the pressure block 83 on the first clamping block 82 is controlled, while the notch on the pressure block 83 restricts the higher surface of the bottom surface of the large shank end of the right half-shaft 10. The gripper mechanism 8 clamps the large shank end of the right half-shaft 10 in the following manner: Figure 8 As shown. In addition, by adjusting the thickness of the shim 84, different sizes of right half-shafts 10 can be gripped. The bottom surface of the large handle end of the left half-shaft is similar to the bottom surface of the large handle end of the right half-shaft 10, and the gripper mechanism 8 can also be used to grip the left half-shaft.
[0027] In one embodiment, the top of the three-finger cylinder 81 is provided with a flange 88, which is connected to the robotic arm 7. This arrangement facilitates the connection between the three-finger cylinder 81 and the robotic arm 7.
[0028] Please refer to the following: Figure 9 , Figure 9This is a schematic diagram of the vision mechanism in the automatic crankshaft keying device of this utility model. In one embodiment, a drive mechanism 13 is provided on the truss 12, which is connected to the vision mechanism 3 and is used to move the vision mechanism 3 above the loading rack 2. The truss 12 is gantry-shaped, and the drive mechanism 13 is located at the top of the truss 12, driving the vision mechanism 3 to move linearly. The drive mechanism 13 can be an existing linear motion drive device, such as a lead screw device. When it is necessary to take a picture, the vision mechanism 3 is moved above the loading rack 2 to take a picture of the right half-shaft 10 on the loading rack 2. After taking the picture, the vision mechanism 3 is removed from above the loading rack 2 to avoid affecting the robot arm 7's gripping of the right half-shaft 10 on the loading rack 2. In one embodiment, the vision mechanism 3 includes a mounting plate 31, a camera 32, and a light source bracket 33. The mounting plate 31 is connected to the drive mechanism 13. The camera 32 is mounted on the mounting plate 31. The light source bracket 33 is located below the camera 32 and mounted on the mounting plate 31. The light source bracket 33 has a second through hole corresponding to the position of the camera 32, and a light source 34 is provided on the light source bracket 33. The camera 32 is used to take pictures, and the vision light source 34 is used for supplementary lighting, which can eliminate environmental interference and improve image quality.
[0029] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the content of the technical solution of the present utility model shall still fall within the scope of the technical solution of the present utility model.
Claims
1. An automatic crankshaft keying device, characterized in that, include: A frame, on which a truss is provided; A feeding rack is mounted on the machine frame and is used to place the right half-shaft. The feeding rack has a feeding groove through which the journal end of the right half-shaft passes. A vision mechanism, located above the loading rack and mounted on a truss, is used to take a photograph of the right half-axis; A pressing table is mounted on a frame. The pressing table has a material channel and a pressing groove, and the material channel and the pressing groove are connected. A vibrating material mechanism is mounted on a frame and includes a vibrating disc, the discharge plate of which is connected to the material channel of the pressing table. A positioning table is mounted on a frame and a positioning groove is provided on the positioning table. The robotic arm is equipped with a gripper mechanism for gripping the right half-shaft. The robotic arm is mounted on a frame and is used to place the gripped right half-shaft into a positioning groove and align the keyway of the right half-shaft with the pressing groove. A pressing mechanism, which is mounted on the frame, is used to press the semi-circular key in the pressing groove into the keyway of the right half shaft; The control system is connected to the vision mechanism, the vibrating mechanism, the robot, the gripper mechanism, and the pressing mechanism.
2. The automatic crankshaft keying device according to claim 1, characterized in that, The frame is provided with a first bracket, and the first bracket is provided with a first through hole. The pressing mechanism includes a pressing cylinder and a pressing strip. The pressing cylinder is mounted on the first bracket, and the telescopic end of the pressing cylinder is connected to the pressing strip. The pressing strip passes through the first through hole.
3. The automatic crankshaft keying device according to claim 1, characterized in that, The positioning platform includes a second support and a positioning block. The second support is mounted on the frame, the positioning block is mounted on the second support, and the positioning groove is mounted on the positioning block. The positioning groove is semi-conical in shape.
4. The automatic crankshaft keying device according to claim 3, characterized in that, The positioning platform also includes a slider and a bolt. The second bracket is provided with a sliding groove, and an elongated hole is provided at the bottom of the sliding groove. The slider is slidably disposed in the sliding groove, and a threaded hole is provided on the slider corresponding to the position of the elongated hole. The bolt passes through the elongated hole and is threadedly connected to the threaded hole.
5. The automatic crankshaft keying device according to claim 1, characterized in that, The gripper mechanism includes a three-finger cylinder, a first gripping block, a pressure block, a pad, and two second gripping blocks. The three-finger cylinder is mounted on the robotic arm. The first gripping block and the two second gripping blocks are respectively mounted on the three fingers of the three-finger cylinder. The first gripping block is L-shaped. The pressure block is detachably mounted on the bottom end of the first gripping block. There are multiple pads with different thicknesses. Each pad can be selectively mounted between the first gripping block and the pressure block. The second gripping block is C-shaped and includes a first horizontal portion, a second horizontal portion, and a vertical portion connecting the first and second horizontal portions. The bottom end of the pressure block away from the first gripping block is recessed inward to form a first notch. The bottom end of the second horizontal portion away from the vertical portion is recessed inward to form a second notch.
6. The automatic crankshaft keying device according to claim 5, characterized in that, The top of the three-finger cylinder is provided with a flange, which is connected to the robotic arm.
7. The automatic crankshaft keying device according to claim 1, characterized in that, The truss is equipped with a drive mechanism, which is connected to a vision mechanism and is used to move the vision mechanism above the loading rack.
8. The automatic crankshaft keying device according to claim 7, characterized in that, The vision mechanism includes a mounting plate, a camera, and a light source bracket. The mounting plate is connected to a drive mechanism. The camera is mounted on the mounting plate. The light source bracket is located below the camera and mounted on the mounting plate. The light source bracket has a second through hole corresponding to the position of the camera. The light source bracket is equipped with a light source.
9. The automatic crankshaft keying device according to claim 1, characterized in that, The loading rack is equipped with a first sensor for detecting whether the right half-shaft is in place.
10. The automatic crankshaft keying device according to claim 1, characterized in that, The pressing groove is equipped with a second sensor for detecting whether the semi-circular key is in place.