JPH06265334A - Apparatus and method for inspecting crankshaft - Google Patents

Abstract

PURPOSE:To improve an inspecting accuracy and to shorten an inspecting time by measuring real shapes of a pin and a counterweight by using a displacement sensor, calculating measured data, and calculating a central position and an angular position of them. CONSTITUTION:A data processor 19 moves an optical head 7 of a displacement sensor 9, and measures real shapes of both journals 1 for one rotation. A line for connecting centers of both axes of the journals is calculated as a centerline of a crankshaft 4. A positional relationship between a pin 2 and a counterweight 3 with the centerline as a reference is calculated based on a reference shape size of the shaft 4 previously stored in a memory 18. After the real shapes of all the pin 2 and the weight 3, etc., are measured, central coordinates of them are calculated. A phase of the other pin 2 and the weight 3 is obtained with an angle position signal from a rotary encoder 14 to the preset reference pin 2 as a reference, and a phase relationship of them is calculated. The calculated central coordinates and the phase of the pins 2 and the weights 3 are compared with pass-fail criterion, and propriety of the shaft 4 is decided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for inspecting a crankshaft used in an automobile or the like in a manufacturing process, and particularly to a center position and an angular position of a pin and a counterweight formed integrally with the crankshaft. The present invention relates to a crankshaft inspection device and method capable of efficiently comparing reference positions.

[0002]

2. Description of the Related Art Generally, a crankshaft used in an automobile engine or the like is provided with a plurality of pins and a counterweight along a rotation center axis so as to be at a predetermined angle position from a rotation reference position. When manufacturing such a crankshaft, match the reference shape so that the center position and angular position of the pin have an exact phase relationship with the centerline of the crankshaft (which matches the rotation center axis when the engine is installed). I have to let you. Therefore, before the final step in the manufacturing process, the actual shape of the crankshaft is compared with the reference shape to determine whether the crankshaft is acceptable or not.

FIG. 14 is a perspective view showing a part of a general crankshaft during the manufacturing process described in, for example, Japanese Patent Laid-Open No. 4-34208. In the figure, 1 is a journal provided at both ends of a crankshaft (described later), 2 is a pin provided at an angular position corresponding to a predetermined rotation angle of the crankshaft, and 3 is a crankshaft so as to face the pin 2. It is a counter weight provided at a predetermined angular position, and the crankshaft 4 is constituted by the journal 1, the pin 2, and the counter weight 3.

As shown in the drawing, the cross-sectional shape of the journal 1 is a concentric circle centered on the center line of the crankshaft 4, and the cross-sectional shape of the pin 2 is a circle having a center position separated from the centerline of the crankshaft. The cross-sectional shape of the counterweight 3 is substantially a fan shape having a center position separated from the center line of the crankshaft.

FIG. 15 is an explanatory view schematically showing a conventional crankshaft inspecting apparatus, 5 is a plate gauge formed to conform to the reference shape of the pin 2, and 6 is a counterweight 3.
It is a plate gauge formed so as to conform to the reference shape of.

Next, the operation of the conventional crankshaft inspection device shown in FIG. 15 will be described with reference to FIG. When inspecting the crank shaft 4 formed as shown in FIG. 14, first, the crank shaft 4 is positioned and set at a predetermined angle as shown in FIG.

Subsequently, the plate gauge 5 for the pin 2 and the plate gauge 6 for the counter weight 3 are respectively fitted to the shapes of the pin 2 and the counter weight 3, respectively, and the plate gauges 5 and 6 and the pin 2 and the counter weight 3 are connected. Measure the gap on the scale. Accordingly, if the shape error between the plate gauges 5 and 6 and the pin 2 and the counter weight 3 is within the allowable range, the crankshaft 4 can be determined to be acceptable.

[0008]

As described above, the conventional crankshaft inspection apparatus and method are carried out by the operator using the plate gauges 5 and 6, so that the inspection accuracy is poor and much time is required. There was a problem.

The present invention has been made to solve the above problems, and an object of the present invention is to obtain a crankshaft inspection apparatus and method capable of inspecting with high accuracy and in a short time.

A third object of the present invention is to provide a crankshaft inspecting device with improved accuracy in measuring the angular position (phase) of the pin.

A fourth object of the present invention is to provide a crankshaft inspection device in which the accuracy of measuring the opening angle position and the phase of the counterweight is improved.

According to a fifth aspect of the present invention, the unevenness of the surface shape of the journal is removed to eliminate the error of the center position of the journal and the center position of the pin, and the accuracy of shape measurement is improved. Aim to get.

Further, a sixth aspect of the present invention is to obtain a crankshaft inspecting apparatus in which the entire circumference shape of the pin can be measured by a simple head movement control only in the Z-axis direction and the control operation is simplified. And

Further, a seventh aspect of the present invention is to obtain a crankshaft inspecting apparatus in which the unevenness of the surface shape of the pin is removed to eliminate the error in the center position of the pin and the accuracy of shape measurement is improved. And

[0015]

According to a first aspect of the present invention, there is provided a crankshaft inspection device, wherein journals are provided at both ends of a rotation center shaft, and a plurality of pins and counter weights are arranged along the rotation center shaft. Further, in a crankshaft inspection device for inspecting a crankshaft in which a pin and a counterweight are provided at a predetermined angle position with respect to a reference position in the rotation direction of a rotation center shaft, the crankshaft is chucked at both ends of the crankshaft and A rotating device that rotates, a memory that stores the reference shapes of the pin and the counterweight,
A displacement sensor that has an optical head that projects light in the direction orthogonal to the center axis of rotation and that measures the actual shape of the pin and the counter weight, and controls the rotating device, and also based on the reference shape and the actual shape, the pin and the counter. And a data processing device for calculating the center position and the angular position of the weight.

A crankshaft inspecting device according to a second aspect of the present invention is the crankshaft inspecting device according to the first aspect, which is provided with a head moving mechanism for controlling the position of the head of the displacement sensor, and the data processing device includes the shape of the pin and the counterweight. At the time of measurement, in response to the rotation of the crankshaft, the head is controlled so that the projection axis, which is the measurement axis of the displacement sensor, always hits the center position of the pin and the counterweight.

A crankshaft inspecting apparatus according to a third aspect of the present invention includes a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, and a memory that stores reference shapes of pins and counterweights. , An optical type for measuring the distance from the Y-axis direction orthogonal to the X-axis direction, which is the center axis of rotation, to the surface of the crankshaft including the journal, the pin and the counterweight as the actual shape of the crankshaft in a non-contact manner. A displacement sensor having a head; a head moving mechanism for moving the displacement sensor to a position designated by three axes of the X-axis direction, the Y-axis direction, and the Z-axis direction orthogonal to the X-axis direction and the Y-axis direction; The data processing device is provided with a data processing device that controls the head moving mechanism and takes in the reference shape from the memory and the measurement data from the displacement sensor. Measures the circumference shape of each journal while rotating the crankshaft, calculates the axis center of each journal from the circumference shape, and calculates the straight line connecting the axis centers of the journals as the centerline of the crankshaft, Using the coordinate system with the rotation center axis as the origin, the position of the center line at the X-axis position of each pin is obtained, the displacement sensor is moved to the X-axis position of each pin, and the crankshaft is rotated while the displacement sensor Measure the distance from the head to the surface of each pin when the measurement axis passes through the rotation center axis, calculate the center position of the pin based on the distance, and from the reference position of the crankshaft when the distance is the minimum. The rotation angle is obtained as the phase measurement value of the pin, the angle correction value is calculated from the position of the center line with respect to the rotation center axis and the center position of the pin, and the value obtained by subtracting the angle correction value from the phase measurement value is the angle position of the pin. It is intended to.

A crankshaft inspecting apparatus according to a fourth aspect of the present invention includes a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, and a memory that stores reference shapes of pins and counterweights. An optical head for measuring the distance from the Y-axis direction, which is orthogonal to the X-axis direction, which is the rotation center axis, to the surface of the crankshaft including the journal, the pin, and the counterweight as the actual shape of the crankshaft without contact. A displacement sensor having an X-axis direction,
Z orthogonal to the Y-axis direction and the X-axis direction and the Y-axis direction
A head moving mechanism for moving the displacement sensor to a position designated by three axes in the axial direction, and a data processing device for controlling the rotating device and the head moving mechanism and for fetching the reference shape from the memory and the measurement data from the displacement sensor. The data processing device measures the entire circumference shape of each journal while rotating the crankshaft, calculates the axis center of each journal from the entire circumference shape, and draws a straight line connecting the axis centers of each journal to the center of the crankshaft. The position of the centerline at the X-axis position of each counterweight is calculated using a coordinate system with the center of rotation as the origin, and the position has a reference radius that determines the opening angle of the counterweight and the position of the centerline. The intersection between the arc centered at and the edge of the reference shape of the counterweight is calculated, and the straight line connecting the intersection and the position of the center line is Y.
For the intersection of the angular position that makes a predetermined angle with the axial direction,
The displacement sensor is moved to a position separated by a predetermined distance in the Y-axis direction, the distance from the head to the surface of the counterweight is measured while rotating the crankshaft, and the crank when the measured distance matches the predetermined distance. The rotation angle of the shaft is calculated as the phase measurement value of the counter weight, and the value obtained by subtracting the specified angle from the phase measurement value is calculated as the opening angle position of the counter weight. The angular position is calculated.

According to a fifth aspect of the present invention, there is provided a crankshaft inspecting device, which includes a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, and a memory that stores reference shapes of pins and counterweights. An optical head for measuring the distance from the Y-axis direction, which is orthogonal to the X-axis direction, which is the rotation center axis, to the surface of the crankshaft including the journal, the pin, and the counterweight as the actual shape of the crankshaft without contact. A displacement sensor having an X-axis direction,
Z orthogonal to the Y-axis direction and the X-axis direction and the Y-axis direction
A head moving mechanism for moving the displacement sensor to a position designated by three axes in the axial direction, and a data processing device for controlling the rotating device and the head moving mechanism and for fetching the reference shape from the memory and the measurement data from the displacement sensor. The data processing device measures the entire circumference shape of the journal while rotating the crankshaft, removes the irregularities from the entire circumference shape to calculate the axis center of each journal, and connects the axis center of each journal with a straight line. Is calculated as the center line of the crank shaft, and whether the crank shaft including the pin and the counter weight is acceptable is determined based on the result of comparison between the reference shape and the actual shape of the crank shaft with respect to the center line.

According to a sixth aspect of the present invention, there is provided a crankshaft inspecting device, which includes a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, and a memory that stores reference shapes of pins and counterweights. An optical head for measuring the distance from the Y-axis direction, which is orthogonal to the X-axis direction, which is the rotation center axis, to the surface of the crankshaft including the journal, the pin, and the counterweight as the actual shape of the crankshaft without contact. A displacement sensor having an X-axis direction,
Z orthogonal to the Y-axis direction and the X-axis direction and the Y-axis direction
A head moving mechanism for moving the displacement sensor to a position designated by three axes in the axial direction, and a data processing device for controlling the rotating device and the head moving mechanism and for fetching the reference shape from the memory and the measurement data from the displacement sensor. The data processing device comprises a displacement sensor that moves the displacement sensor in the Z-axis direction while stopping the crankshaft at every predetermined angle to obtain the actual shape of each pin at each predetermined angle, and to obtain each actual shape on the same coordinate. The data is converted into the data of 1 to calculate the angle from the center position of each pin and the reference position, and the actual shape on the same coordinate and the reference shape are compared to determine whether the crankshaft is acceptable or not.

According to a seventh aspect of the present invention, in the crankshaft inspecting apparatus according to the fifth aspect or the sixth aspect, the data processing device removes the uneven portion from the actual shape of the pin.

The crankshaft inspecting method according to claim 8 of the present invention measures the outer peripheral shape of each journal provided at both ends of the crankshaft by projecting light from an optical displacement sensor, and based on the outer peripheral shape. The axis center of each journal is calculated, the straight line connecting the axis centers is calculated as the center line of the crank shaft, and the projection axis of the displacement sensor is installed on the crank shaft so as to be orthogonal to the center line of the crank shaft. The actual shape of the pin and the counter weight is measured, the reference shape and the actual shape of the pin and the counter weight stored in the memory are compared, and the center position of the pin and the counter weight and the angular position from the reference position are calculated, The calculated central position and angular position are compared with the central position and angular position based on the reference shape.

According to a ninth aspect of the present invention, the crankshaft inspecting method measures the outer peripheral shape of each journal provided at both ends of the crankshaft by projecting light from an optical displacement sensor, and based on the outer peripheral shape. The axis center of each journal is calculated, the straight line connecting the axis centers is calculated as the center line of the crank shaft, and the projection axis of the displacement sensor is installed on the crank shaft so as to be orthogonal to the center line of the crank shaft. Measures the actual shape of the pin and counter weight, corrects the error of the actual shape caused by the disagreement between the center line of the crankshaft and the rotation center axis, and corrects it based on the center line. Comparing the shape and the corrected actual shape, calculate the center position of the pin and counterweight and the angular position from the reference position, and calculate the calculated center position and angular position. It is intended to compare the center position and the angular position based on the quasi-shape.

[0024]

According to the first aspect of the present invention, the actual shape of the pin and the counter weight is measured by irradiating the laser beam in the direction orthogonal to the rotation center axis of the crankshaft, and the pin and the counterweight are measured based on the actual shape and the reference shape. And calculate the exact center and angular position of the counterweight.

According to a second aspect of the present invention, in the first aspect, the head is moved in response to the rotation of the crankshaft so that the laser light always strikes the central positions of the pin and the counter weight.

In the third aspect of the present invention, the center line of the crankshaft is defined as the centerline of the crankshaft between the centerlines of the journals at both ends, and the centerline at the X-axis position of each pin is defined by a coordinate system having the center of rotation as the origin. Calculate the angle correction value from the coordinate of the position of the center line and the distance from the rotation center axis to the center position of each pin, and calculate the angle correction value of the crankshaft that minimizes the distance from the head to the pin surface. The rotation angle is the phase measurement value,
Further, correction is made by subtracting the angle correction value from the phase measurement value to obtain an accurate angular position of each pin with respect to the center line of the crankshaft. Then, by comparing this angular position with the angular position of the reference shape, it is possible to make a highly reliable determination of whether or not the crankshaft is acceptable.

According to a fourth aspect of the present invention, the centerline of the crankshaft is located between the shaft centers of the journals at both ends, and the centerline at the X-axis position of each pin is based on the coordinate system having the center of rotation as the origin. The coordinate of the position is calculated, the position of the opening angle line of the reference shape of the counterweight when the center line position is the center and the predetermined angle with the Y-axis direction is calculated, and from the position of the center line, the intersection point of the predetermined radius is calculated. The head is fixed at a position separated by a predetermined distance in the Y-axis direction, and the rotation angle of the crankshaft when the distance from the head to the surface of the counterweight matches the predetermined distance is obtained as a phase measurement value corresponding to the opening angle. A value obtained by subtracting a predetermined angle from the phase measurement value is calculated as an accurate opening angle position. Then, by comparing the angular position of the counter weight based on the opening angular position with the angular position of the reference shape, it is possible to determine whether the crankshaft is highly reliable.

Further, according to claim 5 of the present invention, the entire circumference shape of the journal measured as the distance from the rotation center axis is approximated to a circle, and the provisional axis center and radius of the approximate circle are obtained to obtain the entire journal. Convert the circumferential shape into distance data from the tentative axis center, and for uneven parts where the distance data exceeds the threshold,
By replacing the distance data with a temporary radius, the irregularities on the surface of the journal are removed. Then, the distance data after unevenness removal is approximated to a circle again, and the center axis of the journal is calculated with high accuracy to accurately calculate the center line of the crank shaft and the shape of the pin and the counter weight, thereby ensuring reliability. Make a high pass / fail decision.

In the sixth aspect of the present invention, the crankshaft is stopped at every predetermined angle, the head of the displacement sensor is moved only in the Z-axis direction, and the shape of the pin is measured. Simplify data processing.

Further, according to the seventh aspect of the present invention, the pin shape is accurately calculated by removing the uneven portion from the measured pin shape and approximated to a circle, and highly reliable pass / fail judgment is performed.

In the eighth aspect of the present invention, the center lines of the crankshaft are connected by connecting the shaft centers of the journals,
The pin and counter weight shapes measured so as to be orthogonal to the center line are compared with the reference shape to calculate the center position of the pin and counter weight and the angular position from the reference position, and the center position and angle based on the reference shape are calculated. Compare with position.

According to a ninth aspect of the present invention, the center lines of the crankshaft are connected by connecting the shaft centers of the journals,
The shape error of the pin and the counter weight due to the disagreement between the center line and the rotation center axis is corrected based on the center line. Then, the corrected actual shape of the pin and the counter weight is compared with the reference shape to calculate the center position of the pin and the counter weight and the angular position from the reference position, and compare with the center position and the angular position based on the reference shape. To do.

[0033]

【Example】

Example 1. Hereinafter, a first embodiment of the present invention (corresponding to claim 1, claim 2, claim 8 and claim 9) will be described with reference to the drawings. FIG. 1 is a block diagram showing a part of the first embodiment of the present invention in a block diagram, and 1-4 are the same as those described above.

The X-axis corresponds to the direction of the central axis of rotation of the crankshaft 4, the Y-axis corresponds to the direction orthogonal to the X-axis, and the Z-axis corresponds to the direction orthogonal to the X-axis and the Y-axis. As described above, the pins 2 and the counterweight 3 are arranged along the X-axis direction and are provided at predetermined angular positions with respect to the reference position in the rotation direction of the crankshaft 4.

Reference numeral 7 is an optical head for projecting a laser beam in the Y-axis direction, 8 is a controller for measuring the actual shape of the pin 2 and the counter weight 3 based on the measurement signal from the head 7, and 9 is the head 7 and It is a displacement sensor configured by the controller 8.

Reference numerals 10 and 11 denote 3-jaw type air chucks which support both ends of the crankshaft 4 via the journal 1.
Reference numeral 12 is a positioning pin provided on the air chuck 10 on the origin side for axially positioning the crankshaft 4, and 13 is a motor for rotationally driving the crankshaft 4, which chucks both ends of the crankshaft 4 together with the air chucks 10 and 11. Thus, a rotating device that rotates the crankshaft 4 is configured. Reference numeral 14 is a rotary encoder that is attached to the central axis of rotation of the air chuck 10 and outputs a position signal in the rotational direction of the crankshaft 4, and 15 is an inverter for driving and controlling the motor 13.

Reference numeral 16 is a head moving mechanism for holding the head 7 and moving it in the two axial directions of the X-axis and the Z-axis, in response to the rotation of the crankshaft 4 under the control of a data processing device described later. The head 7 is controlled so that the projection axis of the displacement sensor 9 always contacts the center position of 2 and the counter weight 3. A driver 17 drives the head moving mechanism 16.

Reference numeral 18 is a memory for storing the reference shapes of the pin 2 and the counter weight 3, and the standard center position and angular position of the pin 2 and the counter weight 3 are stored in advance. Reference numeral 19 is a data processing device that cooperates with the memory 18, and takes in the actual shape data from the displacement sensor 9, the rotation angle signal from the rotary encoder 14 and the reference shape from the memory 18, and controls the inverter 15 and the driver 17.

The data processing device 19 obtains the rotation center axis of the crankshaft 4 based on the actual shape data from the controller 8, calculates the positional relationship from the rotation center axis to each pin 2 and the counterweight 3, and the crankshaft In response to the rotation of the head 4, the head 7 is moved in the Z-axis direction so that the projection axis of the head 7 always contacts the center position of the measurement surface of each pin 2 and the counter weight 3 via the driver 17. Control 16 In addition, the data processing device 19
Calculates the phase relationship between the center position and the angular position of each pin 2 and counterweight 3 based on the actual shape data from the controller 8.

Next, the operation of the first embodiment of the present invention shown in FIG. 1 will be described with reference to the flowchart of FIG. First, after setting the crankshaft 4 between the air chucks 10 and 11 while pressing one end of the crankshaft 4 to be measured against the positioning pin 12 of the air chuck 10, the measurement condition is set in the data processing device 19. (Product type of the object to be measured, acceptance / rejection determination value, etc.) are input, and these input data are stored in the memory 18.

Hereinafter, by giving a measurement start instruction,
The data processing device 19 rotationally drives the crankshaft 4 via the inverter 15, and drives and controls the head moving mechanism 16 via the driver 17 to start measurement of the crankshaft 4 as shown in FIG.

First, in step S0, the head moving mechanism 16 moves the head 7 in the X-axis direction and the Z-axis direction, and the Z-axis coordinate of the center of the air chucks 10 and 11 and the X-axis coordinate of the journal 1 on the origin side. Position the head 7 at the position specified by
The actual shape for one rotation is measured. The air chuck 1
The Z-axis coordinates of the center of 0 and 11 and the X-axis coordinate of the journal 1 on the origin side are obtained in advance by the measurement of the standard cylindrical rod.

In step S1, the head 7 is moved to the X-axis coordinate position of the journal 1 on the side opposite to the origin side, and the actual shape of the journal 1 on the opposite side for one rotation is measured. Then, in step S2, step S
The axis center of each journal 1 (both ends of the crankshaft 4) is obtained from the measured data of the actual shape of the journal 1 obtained in 0 and S1, and the line connecting the axis centers is calculated as the centerline of the crankshaft 4.

All subsequent measurements are performed with the central axis of the crankshaft 4 obtained in step S2 as a reference. Therefore, in step S3, the positions of the pin 2 and the counter weight 3 with respect to the center line of the crank shaft 4 are determined based on the dimensions of the crank shaft 4 (reference shapes of the pin 2 and the counter weight 3) stored in advance. Calculate the relationship.

Next, in step S4, the head moving mechanism 16 is controlled to move the head 7 to the X-axis coordinate position of each pin 2 and the counter weight 3 in order from the origin side, and the displacement sensor 9 measures it. The actual shapes of the pins 2 and the counter weights 3 are captured as measurement data. At this time, in response to the rotation of the crankshaft 4, the head 7
Is moved in the Z-axis direction so that the projection axis of the head 7 always contacts the center position of each pin 2 and counterweight 3.

Therefore, the head 7 has X when changing the pin 2 or the counterweight 3 to be measured.
It moves in the axial direction and moves in the Z-axis direction when measuring the shapes of the pin 2 and the counterweight 3. As a result, the actual shape of the entire circumference of each pin 2 and counterweight 3 can be measured, and the center position of each pin 2 and counterweight 3 can be accurately determined.

After the measurement of the actual shapes of all the pins 2 and the counterweights 3 is completed, the data processing device 19 calculates the center coordinates of each of the pins 2 and the counterweights 3 from the measurement data (actual shape) in step S5. To do. In addition, a reference pin (pin 2
Rotary encoder 1 for any one of
The phase (angle position) of the other pin 2 and the counter weight 3 is obtained from each angular position signal with reference to the angular position signal from No. 4, and the phase relationship between each pin 2 and the counter weight 3 is calculated. The phase of the counter weight 3 is
Obtained from the center coordinates of the arcuate portion.

Finally, in step S6, the calculated center coordinates and phases of the pins 2 and the counter weight 3 are compared with the acceptance / rejection criterion, and the acceptance / rejection determination of the crankshaft 4 and the result thereof are performed by an output device (not shown). Output.

Thus, the center line of the crankshaft 4 is first obtained (step S2), and when the pin 2 and the counterweight 3 are measured (step S4), based on the dimensions of the crankshaft 4 stored in advance, The positional relationship between each pin 2 and the counter weight 3 based on the center line is calculated (step S3), the head 7 is moved in the Z-axis direction in response to the rotation of the crankshaft 4, and each pin 2 responds to the counter weight. By controlling so that the projection axis of the head 7 always hits the center position of 3, the actual shape of the crankshaft 4 can be accurately measured and calculated, and the reliability of the pass / fail judgment is also improved.

Example 2. In the first embodiment, when the pin 2 and the counterweight 3 are measured, the positional relationship between the pins 2 and the counterweight 3 based on the center line based on the stored dimensions (reference shape) of the crankshaft 4 is determined. Although calculated, the positional relationship between each pin 2 and the counterweight 3 based on the rotation center axis instead of the centerline of the crankshaft 4 may be calculated. In this case, if the measurement data obtained while moving the head 7 in the Z-axis direction is finally corrected so that the center line of the crankshaft 4 becomes the reference, the same effect as described above can be obtained.

Example 3. Further, although the case where the control direction of the head moving mechanism 16 is two axes of the X axis and the Z axis is shown, the head 7 may be moved in three axis directions including the Y axis direction.
In this case, each pin 2 is
Also, the head 7 can be controlled so that the measurement surface of the counterweight 3 is always within the measurement range, and higher-precision measurement is possible.

Example 4. Further, in the above-described first embodiment, the specific method of correcting the measurement error due to the discrepancy between the center line of the crank shaft 4 and the rotation center shaft during chucking was not particularly considered, but the phase measurement of the pin 2 and the counter weight 3 was performed. At this time, it is possible to specifically correct the error between the center line of the crankshaft 4 and the rotation center shaft due to the support eccentricity of the air chucks 10 and 11. Also, Journal 1
By removing the unevenness of the surface from the calculation during the entire circumference measurement, it is possible to further improve the phase measurement accuracy of the pin 2 and the counter weight 3.

Hereinafter, the fourth embodiment of the present invention will be described in which the unevenness of the journal 1 is removed and the measurement error due to the disagreement between the center line of the crankshaft 4 and the rotation center axis during chucking is surely corrected. (Corresponding to claim 5) will be described with reference to the drawings. The reference configuration of the fourth embodiment of the present invention is as shown in FIG. 1, and only a new correction function is added in the data processing device 19.

In this case, the data processing device 19 obtains the rotation center axis of the crankshaft 4 from the measurement data from the controller 8 of the displacement sensor 9 and calculates the positional relationship between each pin 2 and the counterweight 3 from the rotation center axis. Then, the head 7 is moved in the three axial directions of the X axis to the Z axis via the head moving mechanism 16, and the phase relationship between each pin 2 and the counter weight 3 is calculated from the obtained measurement data.

Next, the operation of the fourth embodiment of the present invention will be specifically described with reference to the configuration diagram of FIG. 1, the flowchart of FIG. 3 and the explanatory diagrams of FIGS. In addition,
In FIG. 3, S10 to S12 correspond to the above-mentioned step S0.
To S2, S14 to S16 correspond to steps S4 to S6, respectively. Similarly to the above, the crankshaft 4 is set between the air chucks 10 and 11, the measurement conditions are input to the data processing device 19, and then the measurement operation is started as follows by the measurement start instruction.

First, the Y-axis coordinates and Z-axis coordinates of the center positions of the air chucks 10 and 11 and the journal 1 on the origin side.
The head 7 is moved to a position specified by the X-axis coordinate of and the entire circumference shape of the journal 1 on the origin side in the Y-axis direction is measured (step S0). At this time, as shown in FIG. 4, the measurement data D of the entire circumference shape is approximated to a circle C '(dashed line) by using an approximation method such as the least square method, and the temporary axis center Q'of the journal 1 and A temporary radius r'is obtained.

Further, as shown in FIG. 5, the measurement data D of the entire circumference shape is converted into the distance from the provisional axis center Q ', and the irregular portion (two points which exceeds the predetermined threshold TH from the provisional radius r'. (Chain line)
The irregularities on the surface of the journal 1 are removed by replacing the data of 1 with the temporary radius r '. Then, the entire circumference shape data of the journal 1 from which the concavo-convex portion is removed is again approximated to the circle C (dashed line) to calculate the axis center Q of the journal 1 on the origin side.

Subsequently, in step S11, the head 7 is moved to the X-axis coordinate position of the journal 1 on the opposite side,
As in step S10, the uneven portion is removed, and the entire circumferential shape of the journal 1 on the opposite side is measured. The uneven portion removed from the calculation will eventually be removed in the post-treatment of the manufacturing process of the crankshaft 4, so that no trouble occurs. Next, in step S20, a straight line connecting the shaft centers of the journals 1 at both ends is calculated as the center line of the crank shaft 4.

After that, the position of the center line of the crankshaft 4 at the X-axis direction position of each pin 2 and the counterweight 3 to be measured is the YZ plane orthogonal to the X-axis and the center line at the X-axis direction position. Calculated by the intersection. Therefore, in step S20, the position of the center line of the crankshaft 4 at each measurement position (X-axis position) is calculated in advance and stored in the memory 18.

Next, in step S14, the head 7 is positioned and fixed so that the measuring projection light beam strikes the rotation center axis position A, and the projection distance of each pin 2 at the X axis position is detected. The center position based on the actual shape of 2 is calculated, the phase (angle position) of each pin 2 is measured, and this phase measurement value is corrected in step S21. Here, the phase of the pin 2 related to steps S14 and S21 will be described with reference to FIGS. 6 and 7.

FIG. 6 is an explanatory view showing the actual shape of the pin 2 on the YZ coordinates, and 2 and 7 are the same as those described above.
FIG. 7 is a characteristic diagram showing the relationship between the rotation angle of the crankshaft 4 and the distance (measured value) from the head 7 to the pin 2.

In FIGS. 6 and 7, A is the position of the rotation center axis of the crankshaft 4 which is the coordinate origin of the Y-axis and Z-axis planes, and B is the crankshaft 4 at the X-axis (vertical direction in the drawing) position of the pin 2. Position of the center line of P, P is the center position of pin 2,
r is the radius of the outer shape of the pin 2, d is the head 7 to the pin 2
To the surface (measurement value), G is the rotation angle origin serving as a measurement reference of the rotation angle of the crankshaft 4, and θ is the rotation angle of the crankshaft 4 from the rotation angle origin G (that is, the rotation angle origin G
Is the angle position with the Y axis), φ is the angular position of the center line position B with respect to the rotation angle origin G, and e is the distance from the rotation center axis position A to the center line position B.

Α is an angle (positional shift amount) from the rotation angle center A to the center line position B when viewed from the pin center position P, and as shown by a parallelogram with additional auxiliary lines, the pin 2
Corresponds to the amount of phase correction for the angular position of.

R is the distance from the rotation center axis position A to the center position P of the pin 2, R'is the distance from the center line position B to the center position of the pin 2, ym is the rotation center axis position A to the head 7
In the Y-axis direction, do is the minimum value of the measured value d from the head 7 to the pin 2, and θo is the rotation angle of the crankshaft 4 when the measured value d is the minimum value do. The rotation angle θ is measured by the rotary encoder 14.

As shown in FIG. 6, the head 7 is positioned at a distance ym from the rotation center axis position A so that the measurement axis, that is, the projection axis coincides with the Y axis. Therefore,
As the pin 2 rotates about the central axis of rotation in the direction of the arrow, the measured value d by the head 7 changes as shown in FIG.

From the measurement results of FIG. 7, the minimum value d of the measured values d
o, and the rotation angle θ (measurement value of the rotary encoder 14) at this time is set to the rotation angle θo corresponding to the minimum value do.
(Phase measurement value) This rotation angle θo is the phase of the pin 2 centered on the rotation center axis position A in the currently chucked state.

However, the angular position of the pin 2 that has to be actually measured is the phase of the pin 2 with respect to the center line position B of the crankshaft 4, and exists in the direction shifted by the angle α. The angle α corresponding to the phase correction amount of the pin 2 is obtained as described below in step S21.

First, when the center line position B of the crankshaft 4 is represented using polar coordinates with reference to the rotation center axis position A and the rotation angle origin G, it becomes (e, φ). Therefore, using the polar coordinates (e, φ) of the centerline position B and the distance R from the rotation center axis position A of the crankshaft 4 to the center position P of the pin 2, the following is obtained between the angles α, φ and θ. The relational expression becomes.

R · sin α = e · sin (φ−θ)

By modifying the above equation, the angle α corresponding to the phase correction amount can be obtained as follows.

Α = sin ⁻¹ (e · sin φ / R)

Therefore, with the angle α obtained by the above equation as the phase correction amount, the phase measurement value, that is, the angular position θ is obtained.
By subtracting from o, the phase (θo-α) of the pin 2 centered on the centerline position B of the crankshaft 4 is obtained. The actual phase of the pin 2, that is, the angular position (θo−α) thus calculated is stored in the memory 18.

Next, in step S15, the angular position, that is, the phase of each counterweight 3 is measured as described above. Here, the phase of the counter weight 3 related to step S15 will be described with reference to FIGS. 8 and 9.

FIG. 8 shows the actual shape of the counterweight 3 as YZ.
It is explanatory drawing shown on a coordinate, Rw respond | corresponds to the above-mentioned distance R, 3, 7, A, B, d, e, G, ym, (theta), and (phi) are the same as that of the above-mentioned. FIG. 9 is a characteristic diagram showing the relationship between the rotation angle of the crankshaft 4 and the distance (measured value) from the head 7 to the counterweight 3.

In FIG. 8, W and W ′ are intersections of an arc having a radius Rw centered on the rotation center axis position A and each one-side curved portion of the counterweight 3, and L and L ′ are intersections with the center line position B. A straight line connecting W and W '(indicating an opening angle of the counter weight 3), Φ is a phase of the counter weight 3, and β is an angle formed by the straight line L and the Y axis (corresponding to a phase correction amount described later).

The shape of the counterweight 3'shown by a broken line in FIG. 8 is erroneously arranged if the error (distance e) between the rotation center axis position A and the centerline position B is not taken into consideration. It is an erroneous angular position that can be detected by the head 7 '.

Further, in FIG. 9, dp is a predetermined value of the distance d measured by the head 7, and θp is a rotation angle (angle of the opening angle line L) read by the rotary encoder 14 when the predetermined value dp is reached. .

To simplify the description, it is assumed that the rotation center axis position A and the center line position B of the crank shaft 4 in FIG. From A), an arc having a radius Rw is determined, and an intersection W between this arc and the edge of the one-sided curve of the counterweight 3 is determined. Then, the direction of the straight line L connecting the center line position B and the intersection W is defined as the open angle line on one side of the counterweight 3. Similarly, for the edge of the one-sided curve on the opposite side of the counterweight 3, the intersection point W'and the straight line L'which is the opening angle line are defined.

Next, the opening angle of the angle counterweight 3 sandwiched between the two opening angle lines L and L'is defined, and the direction of the bisector of the opening angle is defined as the phase of the counterweight 3. Therefore, in order to measure the phase of the counterweight 3, it is necessary to determine the opening angle lines L and L'on both sides. Next, as shown in FIG. 8, a method of measuring the opening angle line L when an error occurs between the rotation center axis position A and the center line position B of the crankshaft 4 will be described.

First, the head 7 of the displacement sensor 9 is fixed at a predetermined position (shown by a solid line), and the distance d to the edge of the one-sided curve of the counterweight 3 is measured. At this time, the measured value d changes as the crankshaft 4 rotates in accordance with the rotation angle θ as shown in FIG.
The rotation angle θp when passing through p is the angular position (phase measurement value) of the opening angle line L.

In order to measure the rotation angle θ with the highest sensitivity to the change in the measured value d accompanying the rotation of the crankshaft 4, the head is adjusted so that the angle β of the opening angle line L with respect to the Y axis is about 45 °. 7 may be arranged. However, if the head 7 '(shown by the broken line) is arranged so that the position at the distance Rw and the angle β from the rotation center axis position A becomes the measurement point, the counterweight 3'at the position shown by the broken line will be detected. , The opening angle line L from the center line position B cannot be correctly detected.

Therefore, in order to correctly detect the opening angle line L from the center line position B, the position of the head 7 is shown by a solid line, that is, the angle β at a distance Rw from the center line position B and the Y axis is measured. It is necessary to dispose it at a position where the distance d (= dp) is from the point W. The predetermined value dp of the distance d
Can be set to any value within the measurement range of the head 7.

The coordinates of the position of the head 7 thus determined and the phase of the counterweight 3 are specifically calculated as follows. Also for the counter weight 3,
The polar coordinates (e, φ) of the center line position B of the crankshaft 4 obtained in step S20 are used. That is, the YZ coordinates (yp, zp) of the intersection W of the measurement target, which is expected from the shape of the counterweight 3, is expressed as follows.

Yp = Rw · cos β + e · cos (θo−φ) zp = Rw · sin β + e · sin (θo−φ)

However, in the above equation, θo is the rotation angle θp.
Is the ideal value of the rotation center axis position A and center line position B
Counterweight 3 of the standard shape when and match
Is a detection value of the rotation angle θ obtained from the rotary encoder 14 when the straight line L connecting the rotation center axis position A and the intersection point W has an angle β with respect to the Y axis.

Therefore, the coordinates of the intersection W of the head 7 (y
(p, zp) is fixed at a position separated by a predetermined value dp of the distance d in the Y-axis direction, and the counter weight 3 is rotated together with the crankshaft 4, and the measured value d changing as shown in FIG. 9 is observed. Then, the rotation angle θp when the measured value d passes the predetermined value dp is obtained from the rotary encoder 14,
The coordinates θp1 of the angular position of the opening angle line L with respect to the center line position B with respect to the rotation angle origin G are obtained as follows.

Θp1 = θp-β

The coordinates θp1 of the angular position of the opening angle line L thus calculated are stored in the memory 18. Similarly, for the other opening angle line L'of the counterweight 3, the phase measurement value of the crankshaft 4 when the distance to the intersection W'becomes a predetermined distance is obtained, and the final opening angle position θp2 is obtained.
Ask for. At this time, the head 7 uses the counterweight 3
Is moved in the Z-axis direction so as to face the edge portion on the opposite side of.

The actual phase (angular position) Φ of the counterweight 3 is calculated based on the bisector of the opening angle positions θp1 and θp2 thus obtained. Finally, in step S16, the phase measurement values of the pins 2 and the counter weight 3 stored in the memory 18 are compared with the phase reference values and their pass / fail determination reference values to determine whether the crankshaft 4 is pass / fail. And the determination result is output.

Example 5. In addition, the said Example 1-4 Example 4
In the above, the actual shape of the pin 2 was measured while rotating the crankshaft 4, but the crankshaft 4 may be stopped at predetermined angles and the head 7 may be moved only in the Z-axis direction for measurement. In this case, drive control of the head moving mechanism 16 can be simplified.

A fifth embodiment of the present invention in which the movement control of the head 7 is simplified with reference to the configuration diagram of FIG. 1, the flowchart of FIG. 10 and the explanatory diagrams of FIGS. (Corresponding to item 7) will be described. The schematic configuration of the entire apparatus in the fifth embodiment of the present invention is as shown in FIG. 1, and only the control program in the data processing apparatus 19 is different.

In FIG. 10, S10 to S12 are the same steps as described above, S35 and S35 'correspond to the above-mentioned step S15, and S36 corresponds to the step S16. Further, in FIGS. 11 and 12, D1
-D4 are the shape data of the pin 2 measured at each predetermined angle, and DO is the shape data after converting the shape data D1 to D4 on the same coordinates.

First, the head 7 is moved to the YZ coordinates of the centers of the air chucks 10 and 11 and the X coordinate position of the origin side journal 1 which are obtained in advance by measuring the reference cylindrical rod, and the entire circumference of the origin side journal 1 is moved. The shape is measured from the Y-axis direction (step S10).

Then, similarly to the above, the entire circumference measurement data of the journal 1 is approximated to a circle by the least square method or the like, and the temporary axis center Q'and the temporary radius r'are obtained (see FIG. 4). Further, the irregularities on the surface of the journal 1 are removed by replacing the irregularities whose distance from the provisional axis center Q'exceeds the threshold value TH with the provisional radius r '(step S30), and again approximate the circle to the journal 1 Calculate the axis center of.

Similarly, in the measurement of the journal 1 on the opposite side (step S11), the uneven portion is removed (step S
31) The center of the axis after calculation is calculated. These journals 1
At the time of measurement (steps S10 and S11), the head 7 is controlled to move in the three axis directions of the X axis to the Z axis.

Further, after calculating the center line of the crankshaft 4 (step S12), based on the dimensions of the reference shape of the crankshaft 4 stored in the memory 18 in advance,
The positional relationship from the center line to each pin 2 and counter weight 3 is calculated (step S32).

Next, the actual shape of the entire circumference of each pin 2 is measured by the following simplified method (step S3).
3). That is, the rotation angle of the crankshaft 7 is, for example, 9
The head 7 is moved in the Y-axis direction so that the measurement surface of the pin 2 is within the measurement range of the head 7 in each stopped state, and then the head 7 is moved in the Z-axis direction. Measure the actual shape of pin 2.

At this time, if the measurement range of the laser light is small, the head 7 is also controlled to move in the Y-axis direction following the surface shape of the pin 2. When changing the pin 2 to be measured, the head 7 is moved in the X-axis direction and the Y-axis direction. By the step S33, while the crankshaft 4 makes one rotation, measurement data D1 to D4 from four directions with respect to one pin 2 are obtained as shown in FIG. 11, and these are converted into the same coordinates as shown in FIG. As described above, the measurement data DO on the same coordinate is obtained.

Subsequently, the converted measurement data DO of the entire circumference of the pin 2 is converted into a minimum value of 2 as shown in FIG.
A provisional center position Q'and a provisional radius r'are obtained by approximating the circle C'by multiplication, and the uneven portion exceeding the threshold TH is replaced with the provisional radius r'and removed (step S34). Then, the center position of the pin 2 is calculated again by approximating the circle. The above processing is the same as the processing for the journal 1 (FIG. 5).

Next, while continuously rotating the crankshaft 4, the head 7 is moved in the Z-axis direction so that the projection axis of the head 7 always contacts the center position of each counterweight 3,
The shape of the entire circumference of the counterweight 3 is measured to calculate the coordinates of the center position (step S35).

Further, each pin 2 and counter weight 3
After the shape measurement is completed, the phases of the other pins 2 and the counter weights 3 are calculated with reference to the angular position of the reference pin (measurement value from the rotary encoder 14) determined for each type of the crankshaft 4. Step S35 '). That is, the measured value from the rotary encoder 14 for each pin 2 and the counter weight 3 is obtained, and the mutual phase relationship is calculated.

The head 7 moves in the Z-axis direction when the shape of the counterweight 3 is measured, and moves in the X-axis direction when the counterweight 3 to be measured is changed. Further, the phase of the counterweight 3 is obtained from the center coordinates of the arcuate portion. Finally, the center position and phase of each pin 2 and the counter weight 3 are compared with the pass / fail determination reference value to determine the pass / fail of the crankshaft 4 and output the determination result (step S36).

Example 6. In the fifth embodiment, the rotation of the crankshaft 4 is 90 ° when measuring the actual shape of the pin 2.
Although it was stopped every time, if the predetermined angle is 180 ° or less, even if it stops every arbitrary angle and acquires an arbitrary number of measurement data, the measurement data of the entire circumference on the same coordinate is changed by the same change. You can get DO.

Further, although the stop angle position of the crankshaft 4 is determined by the same rotation angle pitch (90 °), it is not always necessary to make the rotation angle pitch the same.
If the amount of movement of the head 7 in the Z-axis direction at the time of stop is changed according to the rotation angle pitch, it can be set to an arbitrary stop angle position.

The reason why the predetermined angle is set to 180 ° or less is that the shape of the pin 2 at rest is measured while moving the head 7 of the optical displacement sensor 9 in the Z-axis direction of the crankshaft 4. , The maximum measurable range is half a circle (180
°).

By the way, when the predetermined angle for stopping the rotation of the crankshaft 4 is small and the number of measurement data of the pin 2 is large, the measurement accuracy is improved but a long measurement time is required. Further, as described above, the shape measurement error of the pin 2 is
It is minimum when the angle formed by the laser beam emitted from the head 7 and the surface of the pin 2 is 90 °, and the irradiation angle is 90 °.
The larger or smaller the value becomes, the larger the measurement error becomes. Therefore, the predetermined rotation angle for stopping the crankshaft 4 is set in consideration of measurement time, measurement accuracy, and the like.

Example 7. Furthermore, in Example 5, the unevenness of the outer peripheral shape of the journal 1 and the pin 2 was removed, but only the journal 1 may be the object of uneven removal.

[0108]

As described above, according to claim 1 of the present invention, journals are provided at both ends of the rotation center axis, a plurality of pins and counter weights are arranged along the rotation center axis, and the pins and counters are arranged. A crankshaft inspection device for inspecting a crankshaft, wherein a weight is provided at a predetermined angle position with respect to a reference position in the rotation direction of a rotation center shaft, in which a crankshaft is rotated by chucking both ends of the crankshaft. , A memory that stores the reference shapes of the pin and the counter weight, an optical head that projects light in the direction orthogonal to the rotation center axis, a displacement sensor that measures the actual shape of the pin and the counter weight, and a rotation sensor. Data processing that controls the device and calculates the center and angular positions of the pin and counterweight based on the reference shape and actual shape. A device is provided, since to calculate the correct center position and angular position of the pin and counterweight, the effect of high precision and in a short time to allow automatic inspection crankshaft inspection device is obtained.

According to a second aspect of the present invention, in the first aspect, a head moving mechanism for controlling the position of the head of the displacement sensor is provided, and the data processing device is configured such that the crank is used at the time of measuring the shape of the pin and the counter weight. In response to the rotation of the shaft, the head is controlled so that the projection axis, which is the measurement axis of the displacement sensor, always hits the center position of the pin and the counter weight. There is an effect to be obtained.

According to a third aspect of the present invention, a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, a memory that stores reference shapes of the pin and the counterweight, and a rotation center shaft. Displacement having an optical head for measuring the distance from the Y-axis direction orthogonal to the X-axis direction to the surface of the crankshaft including the journal, the pin and the counterweight as the actual shape of the crankshaft without contact. A sensor, a head moving mechanism for moving the displacement sensor to a position designated by three axes of the X-axis direction, the Y-axis direction, and the Z-axis direction orthogonal to the X-axis direction and the Y-axis direction, a rotating device, and a head moving mechanism. A data processing device for controlling and controlling the reference shape from the memory and the measurement data from the displacement sensor is provided. While rotating, measure the entire circumference shape of each journal, calculate the axis center of each journal from the entire circumference shape, calculate the straight line connecting the axis centers of each journal as the center line of the crankshaft, and set the rotation center axis as the origin. The position of the center line at the X-axis position of each pin is calculated using the coordinate system, and the displacement sensor is moved to the X-axis position of each pin and the crankshaft is rotated while the measurement axis of the displacement sensor is the center of rotation. Measure the distance from the head to the surface of each pin when passing through the axis, calculate the center position of the pin based on the distance, and determine the rotation angle from the reference position of the crankshaft when the distance is the minimum. Obtained as the phase measurement value, the angle correction value was calculated from the position of the center line with respect to the rotation center axis and the center position of the pin, and the value obtained by subtracting the angle correction value from the phase measurement value was used as the angular position of the pin. Can compensate for the error between the rotation center axis and the center line of the crankshaft, the crankshaft inspection apparatus with improved measurement accuracy of the angular position of the pin there is an effect to be obtained.

According to a fourth aspect of the present invention, a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, a memory that stores reference shapes of the pin and the counterweight, and a rotation center shaft. Displacement sensor having an optical head for measuring the distance from the Y-axis direction orthogonal to the X-axis direction to the surface of the crankshaft including the journal, the pin and the counterweight as the actual shape of the crankshaft without contact. And X-axis direction, Y-axis direction and X
A head moving mechanism that moves the displacement sensor to a position specified by three axes in the Z-axis direction that is orthogonal to the axial direction and the Y-axis direction, a rotating device and a head moving mechanism, and a reference shape and a displacement sensor from a memory. A data processing device that captures the measurement data of is installed.The data processing device measures the entire circumference shape of each journal while rotating the crankshaft, calculates the axis center of each journal from the entire circumference shape, and calculates the axis of each journal. The straight line connecting the centers is calculated as the center line of the crankshaft, and the position of the centerline at the X-axis position of each counterweight is calculated using the coordinate system with the rotation center axis as the origin to determine the opening angle of the counterweight. The intersection of the arc having the reference radius and centered on the position of the center line and the edge of the reference shape of the counterweight is calculated, and the intersection and the position of the centerline are calculated. The displacement sensor is moved to a position separated by a predetermined distance in the Y-axis direction with respect to an intersection of angular positions where the connecting straight line makes a predetermined angle with respect to the Y-axis direction, and the crankshaft is rotated while the surface of the counterweight is separated from the head. Is measured, the rotation angle of the crankshaft when the measured distance matches the specified distance is obtained as the phase measurement value of the counter weight, and the value obtained by subtracting the specified angle from the phase measurement value is the opening angle of the counter weight. Since the angular position of the counterweight is calculated based on each opening angle position with respect to the edge portions on both sides, it is possible to compensate the error between the rotation center axis of the crankshaft and the centerline, and There is an effect that a crankshaft inspection device with improved measurement accuracy of the opening angle position and phase of the weight can be obtained.

According to a fifth aspect of the present invention, a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, a memory that stores reference shapes of pins and a counterweight, and a rotation center shaft. Displacement sensor having an optical head for measuring the distance from the Y-axis direction orthogonal to the X-axis direction to the surface of the crankshaft including the journal, the pin and the counterweight as the actual shape of the crankshaft without contact. And X-axis direction, Y-axis direction and X
A head moving mechanism that moves the displacement sensor to a position specified by three axes in the Z-axis direction that is orthogonal to the axial direction and the Y-axis direction, a rotating device and a head moving mechanism, and a reference shape and a displacement sensor from a memory. A data processing device that captures the measurement data of is provided, and the data processing device measures the entire circumference shape of the journal while rotating the crankshaft, and removes the uneven portion from the entire circumference shape to calculate the axis center of each journal. , Calculate the straight line connecting the shaft centers of each journal as the center line of the crank shaft, and judge the pass / fail of the crank shaft including the pin and the counter weight from the comparison result of the reference shape and the actual shape of the crank shaft with respect to the center line. Therefore, the axis center error of the approximate circle due to the unevenness of the journal surface is removed to remove the crankshaft center line and the pin and counter. The shape of the Eito can be calculated accurately, the effect of crankshaft inspection apparatus with improved reliability can be obtained.

According to claim 6 of the present invention, a rotating device for chucking both ends of the crankshaft to rotate the crankshaft, a memory for storing reference shapes of the pin and the counterweight, and a rotation center shaft. Displacement sensor having an optical head for measuring the distance from the Y-axis direction orthogonal to the X-axis direction to the surface of the crankshaft including the journal, the pin and the counterweight as the actual shape of the crankshaft without contact. And X-axis direction, Y-axis direction and X
A head moving mechanism that moves the displacement sensor to a position specified by three axes in the Z-axis direction that is orthogonal to the axial direction and the Y-axis direction, a rotating device and a head moving mechanism, and a reference shape and a displacement sensor from a memory. And a data processing device that takes in measurement data of the pin. The data processing device moves the displacement sensor in the Z-axis direction while stopping the crankshaft at predetermined angles to determine the actual shape of each pin at predetermined angles. At the same time, each actual shape is converted to data on the same coordinates, the angle from the center position and reference position of each pin is calculated, and the actual shape on the same coordinates and the reference shape are compared to determine whether the crankshaft has passed or failed. Since the determination is made, there is an effect that the reliability can be improved and a crankshaft inspection device in which head control and data processing are simplified can be obtained.

According to claim 7 of the present invention, in claim 5 or claim 6, the data processor removes the uneven portion from the actual shape of the pin. The center position error of the approximate circle can be removed to accurately calculate the center position, and the crankshaft inspection device with improved reliability can be obtained.

According to the eighth aspect of the present invention, the outer peripheral shape of each journal provided at both ends of the crankshaft is measured by projecting light from an optical displacement sensor, and each journal is measured based on the outer peripheral shape. The center of the shaft is calculated, and the straight line connecting the centers of the shafts is used as the center line of the crank shaft.The pin and counter weight provided on the crank shaft so that the projection axis of the displacement sensor is orthogonal to the center line of the crank shaft. Of the pin and counter weight stored in the memory is compared with the actual shape of the pin and counter weight to calculate the center position of the pin and counter weight and the angular position from the reference position. Position and angular position,
Since the center position and the angular position based on the reference shape are compared with each other, there is an effect that a crankshaft inspection method capable of highly accurate and automatic inspection in a short time can be obtained.

According to the ninth aspect of the present invention, the outer peripheral shape of each journal provided at both ends of the crankshaft is measured by projecting light from the optical displacement sensor, and based on the outer peripheral shape, each journal is measured. The center of the shaft is calculated, and the straight line connecting the centers of the shafts is used as the center line of the crank shaft.The pin and counter weight provided on the crank shaft so that the projection axis of the displacement sensor is orthogonal to the center line of the crank shaft. The actual shape of is measured, and the error of the actual shape caused by the disagreement between the center line of the crank shaft and the rotation center axis is corrected with the center line as the reference, and the error is corrected with the reference shape of the pin and counter weight stored in the memory. The actual position is compared to the center position of the pin and the counter weight, and the angular position from the reference position is calculated. Since so as to compare the position and angular position, there is an effect that high accuracy in a short time to allow automatic inspection crankshaft inspection method is obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a partial block diagram of a first embodiment of the present invention.

FIG. 2 is a flowchart showing a shape measurement processing operation according to the first embodiment of the present invention.

FIG. 3 is a flowchart showing a shape measurement processing operation according to a fourth embodiment of the present invention.

FIG. 4 is an explanatory diagram showing an approximate circle of a journal shape in a shape measurement processing operation according to the fourth embodiment of the present invention.

FIG. 5 is an explanatory diagram showing an approximate circle from which a concavo-convex portion of a journal shape is removed in the shape measuring processing operation according to the fourth embodiment of the present invention.

FIG. 6 is an explanatory diagram showing a pin phase calculation operation according to the fourth embodiment of the present invention.

FIG. 7 is a characteristic diagram showing a relationship between a rotation angle and a measured value used for a phase calculation operation of a pin according to the fourth embodiment of the present invention.

FIG. 8 is an explanatory diagram showing a counter weight phase calculation operation according to the fourth embodiment of the present invention.

FIG. 9 is a characteristic diagram showing a relationship between a rotation angle and a measurement value used for a phase calculation operation of a counter weight in the fourth embodiment of the present invention.

FIG. 10 is a flowchart showing a shape measurement processing operation according to the fifth embodiment of the present invention.

FIG. 11 is an explanatory diagram showing a pin shape measurement processing operation according to the fifth embodiment of the present invention.

FIG. 12 is an explanatory diagram showing a pin shape on the same coordinates converted according to the fifth embodiment of the present invention.

FIG. 13 is an explanatory diagram showing an approximate circle from which pin-shaped concavo-convex portions are removed in the shape measurement processing operation according to the fifth embodiment of the present invention.

FIG. 14 is a perspective view showing a main part of a general crankshaft.

FIG. 15 is an explanatory diagram showing a conventional crankshaft inspection device and method.

[Explanation of symbols]

1 journal 2 pin 3 counter weight 4 crankshaft 7 head 9 displacement sensor 10, 11 air chuck 13 motor (rotating device) 16 head moving mechanism 18 memory 19 data processing device A rotation center axis position B centerline position d distance do minimum distance dp Predetermined distance D All-round shape Q Center position L, L'Open angle line Rw Reference radius W Intersection θ Crankshaft rotation angle θo Pin phase measurement value θp Counterweight phase measurement value α Angle correction value β Predetermined angle S0, S1, S10, S11 Steps for measuring the outer peripheral shape of the journal S2, S12 Steps for calculating the center line of the crankshaft S3 Steps for calculating the positions of the pins and counter weights S5 Steps for calculating the phases of the pins and counter weights S6, S16 , S36 Pass / fail judgment step S 4 Step of calculating phase of pin S15 Step of calculating phase of counter weight S20 Step of calculating center line position S21 Step of correcting mismatch error with reference to center line S30 Step of removing unevenness of journal S33 Predetermined angle Measuring the actual shape of the pin while stopping every step S34 removing the unevenness of the pin

Front page continuation (72) Inventor Masayuki Ariki 8-1-1 Tsukaguchihonmachi, Amagasaki City Mitsubishi Electric Co., Ltd. Itami Works (72) Inventor Takashi Takioka 8-1-1 Tsukaguchihonmachi, Amagasaki Mitsubishi Electric Corporation Itami Works (72) Inventor Yasushi Karase 6-16-1, Tsukaguchihonmachi, Amagasaki City Mitsubishi Electric Engineering Co., Ltd. Itami Works (72) Inventor Toshiyuki Miwa 8-1-1 Tsukaguchihonmachi, Amagasaki Mitsubishi Electric Corporation Itami Works (72) Inventor Toshishige Nagao 8-1-1 Tsukaguchihonmachi, Amagasaki City Mitsubishi Electric Corporation Itami Works

Claims (9)

[Claims] 1. A journal is provided at both ends of a rotation center axis, a plurality of pins and a counter weight are arranged along the rotation center axis, and the pins and the counter weight are references in a rotation direction of the rotation center axis. A crankshaft inspection device for inspecting a crankshaft provided at a predetermined angle position with respect to a position, comprising: a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, the pin and the counterweight. Of the reference shape, a memory having an optical head for projecting light in a direction orthogonal to the rotation center axis, a displacement sensor for measuring actual shapes of the pin and the counter weight, and the rotating device. While controlling, based on the reference shape and the actual shape, the center position of the pin and the counter weight and Crankshaft inspection apparatus characterized by comprising a data processing unit for calculating the serial angular position. 2. A head moving mechanism for controlling the position of the head of the displacement sensor, wherein the data processing device responds to the rotation of the crankshaft during the shape measurement of the pin and the counterweight. 2. The crankshaft inspecting device according to claim 1, wherein the head is controlled so that a light projecting axis, which is a measuring axis of the sensor, always contacts the center positions of the pin and the counter weight. 3. A journal is provided at both ends of the rotation center axis, a plurality of pins and a counter weight are arranged along the rotation center axis, and the pins and the counter weight are references in the rotation direction of the rotation center axis. A crankshaft inspection device for inspecting a crankshaft provided at a predetermined angle position with respect to a position, comprising: a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, the pin and the counterweight. Of the reference shape, and a distance from the Y-axis direction orthogonal to the X-axis direction, which is the rotation center axis, to the surface of the crankshaft including the journal, the pin, and the counterweight, A displacement sensor having an optical head for non-contact measurement as a real shape of the crankshaft, the X-axis direction, A head moving mechanism that moves the displacement sensor to a position designated by three axes of the Y-axis direction and the Z-axis direction orthogonal to the X-axis direction and the Y-axis direction, and controls the rotating device and the head moving mechanism. And a data processing device that takes in reference data from the memory and measurement data from the displacement sensor, the data processing device measuring the entire circumferential shape of each journal while rotating the crankshaft, The axis center of each journal is calculated from the entire circumference shape, a straight line connecting the axis centers of the journals is calculated as the center line of the crankshaft, and a coordinate system having the rotation center axis as the origin is used, The position of the center line at the X-axis position of each pin is obtained, the displacement sensor is moved to the X-axis position of each pin, and the crankshaft is rotated. However, the distance from the head to the surface of each pin when the measurement axis of the displacement sensor passes through the rotation center axis is measured, and the center position of the pin is calculated based on the distance, and the distance is Obtain the rotation angle of the crankshaft from the reference position when it becomes the minimum as the phase measurement value of the pin, calculate the angle correction value from the position of the center line with respect to the rotation center axis and the center position of the pin, A crankshaft inspection device, wherein a value obtained by subtracting the angle correction value from the phase measurement value is set as an angular position of the pin. 4. A journal is provided at both ends of a rotation center axis, a plurality of pins and a counter weight are arranged along the rotation center axis, and the pins and the counter weight are references in a rotation direction of the rotation center axis. A crankshaft inspection device for inspecting a crankshaft provided at a predetermined angle position with respect to a position, comprising: a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, the pin and the counterweight. Of the reference shape, and a distance from the Y-axis direction orthogonal to the X-axis direction, which is the rotation center axis, to the surface of the crank shaft including the journal, the pin, and the counter weight. A displacement sensor having an optical head for non-contact measurement as the actual shape of the shaft; A head moving mechanism for moving the displacement sensor to a position designated by three axes of a Y-axis direction and a Z-axis direction orthogonal to the X-axis direction and the Y-axis direction, and controlling the rotating device and the head moving mechanism. Along with the data processing device that takes in the reference shape from the memory and the measurement data from the displacement sensor, the data processing device measures the entire circumferential shape of each journal while rotating the crankshaft, The axis center of each journal is calculated from the circumferential shape, a straight line connecting the axis centers of the journals is calculated as the center line of the crankshaft, and the coordinate system having the rotation center axis as the origin is used to The position of the center line at the X-axis position of the counterweight is obtained, and the centerline has a reference radius that defines the opening angle of the counterweight. Is calculated as an intersection of an arc centered on the position of and the edge portion of the reference shape of the counterweight, and a straight line connecting the intersection and the position of the centerline forms a predetermined angle with respect to the Y-axis direction. For the intersection of
The displacement sensor is moved to a position separated by a predetermined distance in the Y-axis direction, the distance from the head to the surface of the counterweight is measured while rotating the crankshaft, and the measured distance is the predetermined distance. The rotation angle of the crankshaft when it matches the distance is obtained as the phase measurement value of the counter weight, and the value obtained by subtracting the predetermined angle from the phase measurement value is calculated as the opening angle position of the counter weight, and the edges on both sides are calculated. A crankshaft inspecting device, wherein an angular position of the counterweight is calculated based on each opening angular position with respect to the section. 5. A journal is provided at both ends of a rotation center axis, a plurality of pins and a counter weight are arranged along the rotation center axis, and the pins and the counter weight are references in a rotation direction of the rotation center axis. A crankshaft inspection device for inspecting a crankshaft provided at a predetermined angle position with respect to a position, comprising: a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, the pin and the counterweight. Of the reference shape, and a distance from the Y-axis direction orthogonal to the X-axis direction, which is the rotation center axis, to the surface of the crank shaft including the journal, the pin, and the counter weight. A displacement sensor having an optical head for non-contact measurement as the actual shape of the shaft; A head moving mechanism for moving the displacement sensor to a position designated by three axes of a Y-axis direction and a Z-axis direction orthogonal to the X-axis direction and the Y-axis direction, and controlling the rotating device and the head moving mechanism. Together with a reference shape from the memory and a data processing device that captures measurement data from the displacement sensor, the data processing device measures the entire circumference shape of the journal while rotating the crankshaft, Calculate the axial center of each journal by removing the uneven portion from the shape, calculate the straight line connecting the axial center of each journal as the centerline of the crankshaft, and the reference shape of the crankshaft with respect to the centerline It is characterized in that whether or not the crankshaft including the pin and the counterweight is acceptable is determined from a comparison result with an actual shape. Crankshaft inspection device. 6. A journal is provided at both ends of a rotation center shaft, a plurality of pins and a counter weight are arranged along the rotation center shaft, and the pins and the counter weight are references in a rotation direction of the rotation center shaft. A crankshaft inspection device for inspecting a crankshaft provided at a predetermined angle position with respect to a position, comprising: a rotating device that chucks both ends of the crankshaft to rotate the crankshaft, the pin and the counterweight. Of the reference shape, and a distance from the Y-axis direction orthogonal to the X-axis direction, which is the rotation center axis, to the surface of the crank shaft including the journal, the pin, and the counter weight. A displacement sensor having an optical head for non-contact measurement as the actual shape of the shaft; A head moving mechanism for moving the displacement sensor to a position designated by three axes of a Y-axis direction and a Z-axis direction orthogonal to the X-axis direction and the Y-axis direction, and controlling the rotating device and the head moving mechanism. And a data processing device that takes in the reference shape from the memory and the measurement data from the displacement sensor, wherein the data processing device moves the displacement sensor in the Z-axis direction while stopping the crankshaft at every predetermined angle. To obtain the actual shape of each pin at each of the predetermined angles, and convert each actual shape into data on the same coordinates to calculate the angle from the center position of each pin and the reference position. The crankshaft inspection device is characterized by comparing the actual shape on the same coordinate with a reference shape to determine whether the crankshaft is acceptable or not. 7. The crankshaft inspection device according to claim 5, wherein the data processing device removes an uneven portion from the actual shape of the pin. 8. The outer peripheral shape of each journal provided at both ends of the crankshaft is measured by projecting light from an optical displacement sensor, and the axial center of each journal is calculated based on the outer peripheral shape. The straight line connecting the axis centers is calculated as the center line of the crank shaft, and the actual shape of the pin and the counter weight provided on the crank shaft so that the projection axis of the displacement sensor is orthogonal to the center line of the crank shaft. Is calculated and the reference shape of the pin and the counter weight stored in the memory is compared with the actual shape to calculate the center position of the pin and the counter weight and the angular position from the reference position. A method for inspecting a crankshaft, characterized in that the center position and the angular position are compared with the center position and the angular position based on the reference shape. 9. The outer peripheral shape of each journal provided at both ends of the crankshaft is measured by projecting light from an optical displacement sensor, and the axial center of each journal is calculated based on the outer peripheral shape. The straight line connecting the axis centers is calculated as the center line of the crank shaft, and the actual shape of the pin and the counter weight provided on the crank shaft so that the projection axis of the displacement sensor is orthogonal to the center line of the crank shaft. And corrects the error of the actual shape caused by the disagreement between the center line of the crankshaft and the rotation center axis with the centerline as a reference, and the reference shape of the pin and the counterweight stored in the memory. The center position of the pin and the counter weight and the angular position from the reference position are calculated by comparing with the corrected actual shape, and the calculated center position is calculated. And a method for inspecting a crankshaft, wherein the angular position is compared with a center position and an angular position based on the reference shape.