Engine cylinder liner press-fitting equipment and cylinder liner press-fitting method

Abstract

The present application provides a press-fitting device and a method for press-fitting a cylinder liner of an engine. The press-fitting device includes: a first visual inspection mechanism captures an image of an inner sealing ring of a cylinder hole to be inspected to obtain first image data; a second visual inspection mechanism captures an image of an outer sealing ring of a cylinder hole to be inspected to obtain second image data; a third visual inspection mechanism captures an image of an inner wall of a cylinder hole to be inspected to obtain third image data; a manipulator mechanism and a servo press; a controller determines whether the inner sealing ring of a cylinder hole to be inspected is installed properly according to the first image data, determines whether the outer sealing ring of a cylinder hole to be inspected is installed properly according to the second image data, determines whether the cylinder liner to be inspected has defects according to the third image data, and controls the manipulator mechanism to grab a cylinder liner without defects and with an outer sealing ring installed properly, and aligns it with a cylinder hole with an inner sealing ring installed properly, and after alignment, controls the servo press to press-fit the cylinder liner into the cylinder hole. Automatic press-fitting of the cylinder liner is achieved based on the three visual inspection results.

Description

Technical Field

[0001] The present application relates to the field of engines, and in particular to a press-fitting device for an engine cylinder liner and a press-fitting method for a cylinder liner. Background Art

[0002] Cylinder liners are important components of engines, and fitting cylinder liners to engine blocks is a key process in engine assembly. During the cylinder liner press-fitting process, different engines use different cylinder liner models; different cylinder liner models also use different sealing rings; and if the cylinder liner has stains, cracks, scratches, sand holes and other defects, it is easy to cause major quality accidents if it works in a high temperature and high pressure environment for a long time after installation.

[0003] Patent CN208729669U uses a visual recognition device to detect whether the cylinder liner to be pressed into the cylinder body is missing a sealing ring and / or whether the sealing ring pressed into the cylinder body is damaged, but it lacks the ability to identify and detect various defects that may exist in the sealing ring in the cylinder hole and the cylinder liner components;

[0004] Patent CN211613495U also only performs visual inspection on the cylinder liner seal ring, and does not identify defects in the seal ring in the cylinder hole and the cylinder liner components.

[0005] The existing cylinder liner inspection scheme has a relatively single inspection object, which makes it difficult to realize the automatic press-fitting of the cylinder liner based on a single inspection result. Summary of the invention

[0006] The main purpose of the present application is to provide a press-fitting device and a method for press-fitting an engine cylinder liner, so as to at least solve the problem that it is difficult to realize automatic press-fitting of the cylinder liner based on a single detection result.

[0007] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a press-fitting device for an engine cylinder liner is provided, comprising: a first visual inspection mechanism, installed on a side of a cylinder hole to be inspected away from the ground, for capturing an image of an inner sealing ring of the cylinder hole to be inspected, and obtaining first image data; a second visual inspection mechanism, installed on a side of the cylinder liner to be inspected away from the ground, for capturing an image of an outer sealing ring of the cylinder liner to be inspected, and obtaining second image data; a third visual inspection mechanism, installed on a side of the cylinder liner to be inspected away from the ground, for capturing an image of an inner wall of the cylinder liner to be inspected, and obtaining third image data; a manipulator mechanism is installed on a side of the cylinder liner to be inspected away from the ground, for capturing an image of an inner wall of the cylinder liner to be inspected, and obtaining third image data; and a servo press; a controller, which communicates with the first visual inspection mechanism, the second visual inspection mechanism, the third visual inspection mechanism, the manipulator mechanism and the servo press respectively, and is used to determine whether the inner sealing ring of the cylinder hole to be inspected is installed properly according to the first image data, determine whether the outer sealing ring of the cylinder liner to be inspected is installed properly according to the second image data, determine whether the cylinder liner to be inspected has defects according to the third image data, and control the manipulator mechanism to grab the cylinder liner without defects and with the outer sealing ring installed properly, align it with the cylinder hole with the inner sealing ring installed properly, and after alignment, control the servo press to press the cylinder liner into the cylinder hole.

[0008] Optionally, the pressing equipment also includes: a cylinder liner loading mechanism and a cylinder liner unloading mechanism, the cylinder liner loading mechanism includes a cylinder liner loading bin, the cylinder liner unloading mechanism includes a cylinder liner unloading bin, the cylinder liner to be inspected is placed in the cylinder liner loading bin for inspection, and the cylinder liner with unqualified outer sealing ring installation and / or the cylinder liner that fails the defect inspection is grabbed by the manipulator mechanism to the cylinder liner unloading bin.

[0009] Optionally, bases adapted to various types of cylinder liners are installed in both the cylinder liner upper bin and the cylinder liner lower bin.

[0010] Optionally, the first visual detection mechanism and the third visual detection mechanism are capable of moving in a vertical direction, and the vertical direction is a direction perpendicular to the ground.

[0011] According to one aspect of the present application, a method for pressing a cylinder liner using a pressing device for an engine cylinder liner is provided, comprising: obtaining first image data captured by a first visual inspection mechanism, and determining whether an inner sealing ring of a cylinder hole to be inspected is properly installed based on the first image data; obtaining second image data captured by a second visual inspection mechanism, and determining whether an outer sealing ring of the cylinder liner to be inspected is properly installed based on the second image data; obtaining third image data captured by a third visual inspection mechanism, and determining whether the cylinder liner to be inspected has defects based on the third image data; controlling a manipulator mechanism to grab a cylinder liner without defects and with a properly installed outer sealing ring, aligning it with a cylinder hole with a properly installed inner sealing ring, and after alignment, controlling a servo press to press the cylinder liner into the cylinder hole.

[0012] Optionally, determining whether the inner sealing ring of the cylinder hole to be inspected is properly installed based on the first image data includes: denoising and smoothing the first image data to obtain processed first image data; identifying whether there is a circular target object or an elliptical target in the processed first image data, and determining that the inner sealing ring is missing if no circular target object or an elliptical target exists; and determining whether the inner sealing ring is properly installed based on color feature data of the circular target object or the elliptical target if the circular target object or the elliptical target exists.

[0013] Optionally, determining whether the inner sealing ring is properly installed is based on the color feature data of the circular target object or the elliptical target, including: obtaining a plurality of the color feature data within the coordinate area where the circular target object or the elliptical target is located; obtaining an average value of the plurality of the color feature data to obtain an average color value; determining a difference between the average color value and a standard color value when the inner sealing ring is properly installed; if the difference is within a preset difference range, determining that the inner sealing ring is properly installed, and if the difference is not within the preset difference range, determining that the inner sealing ring is unqualified.

[0014] Optionally, determining whether the cylinder liner to be inspected has defects based on the third image data includes: performing image denoising and edge enhancement processing on the third image data to obtain processed third image data; performing dilation processing and corrosion processing on the processed third image data to obtain dilation-corrosion image data; obtaining an area in the dilation-corrosion image data whose brightness value is greater than a brightness threshold to obtain a bright spot area; obtaining whether the pixel area of ​​the bright spot area is greater than a preset pixel area, and when the pixel area of ​​at least one of the bright spot areas is greater than the preset pixel area, determining that the inner wall of the cylinder liner to be inspected has defects, and when the pixel areas of all the bright spot areas are less than or equal to the preset pixel area, determining that the inner wall of the cylinder liner to be inspected has no defects.

[0015] Optionally, obtaining the first image data captured by the first visual detection mechanism includes: controlling the rotation of the roller at the bottom of the cylinder hole to be detected, so as to move the cylinder hole to be detected to the detection position and then controlling the first visual detection to start shooting to obtain the first image data; or, the first visual detection mechanism is capable of moving in a vertical direction, and the vertical direction is a direction perpendicular to the ground, and obtaining the first image data captured by the first visual detection mechanism includes: controlling the first visual detection mechanism to move to different height positions in the vertical direction to capture multiple first image data.

[0016] Optionally, the third visual inspection mechanism is movable and rotatable in a vertical direction, where the vertical direction is a direction perpendicular to the ground. Acquiring third image data captured by the third visual inspection mechanism and determining whether the cylinder liner to be inspected has defects based on the third image data comprises: controlling the third visual inspection mechanism to move to different height positions and rotate in the vertical direction to capture multiple third image data; fusing the multiple third image data to obtain fused third image data; and determining whether the cylinder liner to be inspected has defects based on the fused third image data.

[0017] By applying the technical solution of the present application, the engine cylinder liner pressing equipment of the present application adopts three sets of visual inspection mechanisms to realize the inspection of the cylinder liner sealing ring, the sealing ring in the cylinder hole, and the defects of the inner wall of the cylinder liner. When the three inspection results are all qualified, the cylinder liner that has passed the inspection is grasped to the position of the corresponding cylinder hole for alignment, and then the cylinder liner is pressed into the corresponding cylinder hole by a servo press to realize the automatic pressing of the cylinder liner. Since the inspection information before pressing includes three aspects of visual data, the automatic pressing of the cylinder liner can be realized, which solves the problem that it is difficult to realize the automatic pressing of the cylinder liner based on a single inspection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 The overall structure schematic diagram of the press-fitting equipment for the engine cylinder liner provided in the embodiment of the present application is shown;

[0020] Figure 2 A schematic diagram of a first visual detection mechanism provided in an embodiment of the present application is shown;

[0021] Figure 3 A schematic diagram of a second visual detection mechanism provided in an embodiment of the present application is shown;

[0022] Figure 4 A schematic diagram of a third visual detection mechanism provided in an embodiment of the present application is shown;

[0023] Figure 5 A schematic diagram of a cylinder liner base provided in an embodiment of the present application is shown;

[0024] Figure 6 A flow chart of a cylinder liner press-fitting method provided in an embodiment of the present application is shown;

[0025] Figure 7The overall working flow chart of the press-fitting equipment for the engine cylinder liner provided in the embodiment of the present application is shown;

[0026] Figure 8 A flow chart of a visual inspection method for mis-installation or missing installation of cylinder bores and cylinder sleeve seal rings provided in an embodiment of the present application is shown;

[0027] Fig. 9 A flow chart of a method for visually detecting cylinder liner inner wall defects provided in an embodiment of the present application is shown.

[0028] The above drawings include the following reference numerals:

[0029] 01. First visual inspection mechanism; 02. Second visual inspection mechanism; 03. Third visual inspection mechanism; 04. Robot mechanism; 05. Servo press; 06. Cylinder body; 07. Shading plate; 08. Controller; 09. Cylinder liner loading mechanism; 10. Cylinder liner unloading mechanism; 11. Cylinder liner base. DETAILED DESCRIPTION

[0030] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] As introduced in the background technology, it is difficult to realize the automatic press-fitting of the cylinder liner based on a single detection result in the prior art. In order to solve the problem that it is difficult to realize the automatic press-fitting of the cylinder liner based on a single detection result, an embodiment of the present application provides an engine cylinder liner press-fitting device and a cylinder liner press-fitting method.

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0035] The embodiment of the present application provides a press-fitting device for an engine cylinder liner, such as Figures 1 to 5 As shown, including:

[0036] The first visual inspection mechanism 01 is installed on the side of the cylinder hole to be inspected away from the ground, and is used to capture the image of the inner sealing ring of the cylinder hole to be inspected to obtain first image data;

[0037] The second visual inspection mechanism 02 is installed on the side of the cylinder liner to be inspected away from the ground, and is used to capture the image of the outer sealing ring of the cylinder liner to be inspected to obtain second image data;

[0038] Figure 2 It is shown that the cameras of the second visual inspection mechanism can be distributed in multiple locations, so as to obtain images of the outer sealing ring of the cylinder liner to be inspected from multiple angles, thereby achieving full acquisition of the image of the outer sealing ring.

[0039] The cylinder liner is a cylindrical part placed in the cylinder hole (i.e., cylinder bore) of the engine body and is fixed by the cylinder head. The piston reciprocates in its inner hole and is cooled by cooling water. The cylinder block is the main body of the engine, connecting each cylinder and the crankcase together, and is the supporting frame for installing the piston, crankshaft, and other parts and accessories.

[0040] The third visual inspection mechanism 03 is installed on the side of the cylinder liner to be inspected away from the ground, and is used to capture the image of the inner wall of the cylinder liner to be inspected to obtain third image data;

[0041] Wherein, the first visual detection mechanism and the third visual detection mechanism are integrated with light sources to realize illumination of the internal area;

[0042] Robot mechanism 04 and servo press 05;

[0043] Among them, the mechanical gripper of the manipulator mechanism 04 can be moved to carry the cylinder sleeve to the designated area, and the gripper expands from the inside to the outside, which can be used for cylinder sleeves of various sizes;

[0044] Among them, the servo press 05 presses the cylinder sleeve placed in the cylinder hole and records the press pressure. It can be judged whether the press is completed according to the pressure value;

[0045] The controller 08 communicates with the first visual inspection mechanism 01, the second visual inspection mechanism 02, the third visual inspection mechanism 03, the manipulator mechanism 04 and the servo press 05 respectively, and is used to determine whether the inner seal ring of the cylinder hole to be inspected is installed properly according to the first image data, determine whether the outer seal ring of the cylinder sleeve to be inspected is installed properly according to the second image data, determine whether the cylinder sleeve to be inspected has defects according to the third image data, and control the manipulator mechanism 04 to grab the cylinder sleeve without defects and with the outer seal ring installed properly, align it with the cylinder hole with the inner seal ring installed properly, and control the servo press 05 to press the cylinder sleeve into the cylinder hole after alignment. That is, the controller connects the electrical and visual systems of the equipment, and controls whether to press and load and unload according to the visual inspection results.

[0046] The cylinder block 06 includes a cylinder bore;

[0047] It also includes a shading plate 07, which is used to block excess light to facilitate the first visual detection mechanism, the second visual detection mechanism and the third visual detection mechanism to collect image data;

[0048] Among them, the cylinder liner loading mechanism 09 and the cylinder liner unloading mechanism 10, the cylinder liner loading mechanism 09 includes a cylinder liner loading bin, and the cylinder liner unloading mechanism 10 includes a cylinder liner unloading bin. The cylinder liner to be tested is placed in the cylinder liner loading bin for testing, and the cylinder liner with unqualified outer sealing ring installation and / or the cylinder liner that failed the defect detection is grabbed by the manipulator mechanism 04 and put into the cylinder liner unloading bin. Automatic rejection of unqualified products is achieved; the discharge device (including the cylinder liner loading mechanism 09 and the cylinder liner unloading mechanism 10) is designed with multi-layer card slots, which can be compatible with the placement of various types of cylinder liners.

[0049] Among them, the cylinder sleeve upper bin and the cylinder sleeve lower bin are both equipped with bases adapted to various types of cylinder sleeves, and the cylinder sleeve base 11 can be adapted to various types of cylinder sleeves. Since it can be compatible with multiple types of cylinder sleeves, the operating efficiency is improved.

[0050] The first visual inspection mechanism 01 and the third visual inspection mechanism 03 can move in the vertical direction, which is a direction perpendicular to the ground. The first visual inspection mechanism can move in the vertical direction to extend the camera to different depths inside the cylinder hole, and obtain images of the inner sealing ring of the cylinder hole at various heights; the third visual inspection mechanism can move in the vertical direction to extend the camera to different depths inside the cylinder sleeve, and obtain images of different heights of the inner wall of the cylinder sleeve, which is convenient for the complete detection of subsequent inner wall defects.

[0051] The engine cylinder liner pressing equipment of the present application adopts three sets of visual inspection mechanisms to realize the inspection of the cylinder liner sealing ring, the sealing ring in the cylinder hole, and the defects of the inner wall of the cylinder liner. When the three inspection results are all qualified, the qualified cylinder liner is grasped to the position of the corresponding cylinder hole for alignment, and then the cylinder liner is pressed into the corresponding cylinder hole by a servo press to realize the automatic pressing of the cylinder liner. Since the inspection information before pressing includes three aspects of visual data, the automatic pressing of the cylinder liner can be realized, which solves the problem that it is difficult to realize the automatic pressing of the cylinder liner based on a single inspection result.

[0052] The engine cylinder liner pressing equipment of the present application also overcomes the defects of only visual inspection of the cylinder liner sealing ring, without identifying and inspecting the sealing ring in the cylinder hole and various defects that may exist in the cylinder liner components, resulting in lack of error prevention ability, low compatibility and limited usage scenarios.

[0053] In this embodiment, a method for cylinder liner pressing in a controller in an engine cylinder liner pressing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0054] Figure 6 FIG. 1 is a flow chart of a method for performing cylinder liner press-fitting using an engine cylinder liner press-fitting device according to an embodiment of the present application. Figure 6 As shown, the method comprises the following steps:

[0055] Step S601, obtaining first image data captured by a first visual inspection mechanism, and determining whether the inner sealing ring of the cylinder hole to be inspected is installed properly according to the first image data;

[0056] Step S602, obtaining second image data captured by a second visual inspection mechanism, and determining whether the outer sealing ring of the cylinder sleeve to be inspected is installed properly according to the second image data;

[0057] Step S603, obtaining third image data captured by the third visual inspection mechanism, and determining whether the cylinder liner to be inspected has defects according to the third image data;

[0058] Among them, the defects of cylinder liners include stains, cracks, scratches, sand holes, etc.;

[0059] Step S604, control the manipulator mechanism to grab the cylinder liner without defects and with a qualified outer sealing ring, align it with the cylinder hole with a qualified inner sealing ring, and after alignment, control the servo press to press the cylinder liner into the cylinder hole.

[0060] The present application discloses a method for pressing cylinder liners using a press-fitting device for an engine cylinder liner, which includes obtaining first image data captured by a first visual inspection mechanism, and determining whether the inner sealing ring of the cylinder hole to be inspected is installed properly based on the first image data; obtaining second image data captured by a second visual inspection mechanism, and determining whether the outer sealing ring of the cylinder liner to be inspected is installed properly based on the second image data; obtaining third image data captured by a third visual inspection mechanism, and determining whether the cylinder liner to be inspected has defects based on the third image data; controlling a manipulator mechanism to grab a cylinder liner without defects and with a properly installed outer sealing ring, aligning it with a cylinder hole with a properly installed inner sealing ring, and after alignment, controlling a servo press to press the cylinder liner into the cylinder hole. Automatic pressing of the cylinder liner is achieved based on the three visual inspection results.

[0061] Specifically, determining whether the inner sealing ring of the cylinder hole to be inspected is installed properly according to the first image data includes: performing denoising and smoothing processing on the first image data to obtain processed first image data; identifying whether there is a circular target or an elliptical target in the processed first image data, and determining that the inner sealing ring is missing if there is no circular target or an elliptical target, and determining whether the inner sealing ring is installed properly according to the color feature data of the circular target or the elliptical target if there is a circular target or an elliptical target. Whether the inner sealing ring is installed properly is determined by the color feature data of the identified circular target or the elliptical target.

[0062] Further, determining whether the inner sealing ring is installed properly based on the color feature data of the circular target or the elliptical target includes: obtaining multiple color feature data within the coordinate area where the circular target or the elliptical target is located; obtaining the average value of the multiple color feature data to obtain the average color value; determining the difference between the average color value and the standard color value when the inner sealing ring is installed properly; if the difference is within the preset difference range, determining that the inner sealing ring is installed properly, and if the difference is not within the preset difference range, determining that the inner sealing ring is installed unqualified. Comparing the average color value obtained by actual detection with the standard color value to obtain the difference, and determining whether the inner sealing ring is installed properly based on the difference. Among them, the preset difference range can be determined based on the actual distribution domain of the color of the inner sealing ring. If the color distribution domain is relatively wide, the preset difference range can be set larger, and if the color distribution domain is relatively narrow, the preset difference range can be set smaller.

[0063] Specifically, determining whether the cylinder liner to be inspected has defects according to the third image data includes: performing image denoising and edge enhancement processing on the third image data to obtain processed third image data; performing expansion processing and corrosion processing on the processed third image data to obtain image data after expansion and corrosion; obtaining an area in the image data after expansion and corrosion whose brightness value is greater than a brightness threshold to obtain a bright spot area; obtaining whether the pixel area of ​​the bright spot area is greater than a preset pixel area, and determining that the inner wall of the cylinder liner to be inspected has defects when the pixel area of ​​at least one bright spot area is greater than the preset pixel area, and determining that the inner wall of the cylinder liner to be inspected has no defects when the pixel areas of all bright spot areas are less than or equal to the preset pixel area. Through image denoising, edge enhancement, expansion processing and corrosion processing, small defects can be expanded to achieve accurate determination of whether there are defects.

[0064] The above-mentioned preset pixel area can be set to 4 pixel values, 5 pixel values, 5 pixel values, etc., which is determined according to the actual size of the defect.

[0065] Furthermore, obtaining the first image data captured by the first visual detection mechanism includes: controlling the rotation of the roller at the bottom of the cylinder hole to be detected, so as to move the cylinder hole to be detected to the detection position and then controlling the first visual detection to start shooting to obtain the first image data; or, the first visual detection mechanism can move in the vertical direction, the vertical direction is the direction perpendicular to the ground, and obtaining the first image data captured by the first visual detection mechanism includes: controlling the first visual detection mechanism to move to different height positions in the vertical direction to capture multiple first image data.

[0066] Furthermore, the third visual inspection mechanism can move and rotate in the vertical direction, the vertical direction being the direction perpendicular to the ground, and the third image data captured by the third visual inspection mechanism is obtained, and the presence or absence of defects in the cylinder liner to be inspected is determined based on the third image data, including: controlling the third visual inspection mechanism to move to different height positions in the vertical direction and rotate to capture multiple third image data; fusing the multiple third image data to obtain fused third image data; and determining whether the cylinder liner to be inspected has defects based on the fused third image data. It is difficult to fully detect the inner wall defects of the cylinder liner with a single detection angle and a single detection depth, so full detection of the inner wall defects of the cylinder liner is achieved by moving up and down and rotating.

[0067] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0068] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the cylinder liner press-fitting method of the present application will be described in detail below in combination with specific embodiments.

[0069] This embodiment relates to a specific method for press-fitting a cylinder liner, using Figures 1 to 5 The engine cylinder liner press-fitting equipment realizes the automatic press-fitting of the cylinder liner. The overall assembly process is as follows Figure 7 As shown, including:

[0070] The production line rollers rotate, the cylinder body moves to the visual inspection position, and the camera takes a picture of the sealing ring inside the cylinder hole;

[0071] Check whether the sealing ring is installed correctly. If the test is qualified, the cylinder body will continue to move to the press-fitting position to wait for the cylinder sleeve to be pressed. If it is unqualified, it will be directly moved out of the equipment station and handled manually;

[0072] Place the cylinder liner on the loading device and move it to the visual inspection position. Two sets of visual inspection devices will respectively inspect whether the cylinder liner seal is installed correctly and whether there are any defects in the cylinder liner;

[0073] After the cylinder liner is tested and qualified, the rear mechanical gripper grabs it into the cylinder hole of the cylinder body and waits for press-fitting; if it is unqualified, it is grabbed to the unloading mechanism and processed manually;

[0074] The press-fitting device presses the cylinder liner and ends when the press-fitting is qualified according to the press-fitting pressure value.

[0075] Among them, the flow chart of the visual inspection method for cylinder bore and cylinder liner sealing ring mis-installation is as follows Figure 8 As shown, including:

[0076] The camera starts shooting. For the captured image, the image denoising process is first performed: a Gaussian function is used to generate a Gaussian kernel (a matrix), and the kernel is convolved with the image. The Gaussian kernel is slid over the image, and each value in the kernel is multiplied by the pixel value at the corresponding position in the image, and then the sum is taken, and the result is finally assigned to the corresponding pixel of the output image. By introducing a blur effect in the image, the image is smoothed, the noise is reduced, and the image is made cleaner.

[0077] The Gaussian blur formula is: ;

[0078] Where 𝑥 and 𝑦 are the position parameters in the image coordinate system, is the standard deviation of the Gaussian function;

[0079] The denoised image is smoothed using a mean filter algorithm, which replaces the central pixel of the image region with the average value of the pixels in the region to achieve a smoothing effect.

[0080] Detect whether there is a circle in the image: First, use an edge detection algorithm (such as Canny) to obtain the edge map in the image. Then set the parameter space of the circle to (a, b, r), where (a, b) is the coordinate of the center of the circle and r is the radius. Use a voting mechanism to calculate the possible center and radius for each edge point. Vote for each pair of (a, b, r) in the accumulator, analyze the voting results in the accumulator, and identify the combination of center and radius with the most votes.

[0081] If a round object is detected, it means that the seal ring has been installed, and it is necessary to further detect whether the seal ring is installed correctly based on the color (each type of seal ring has a different color); otherwise, it means that the seal ring is not installed correctly and the equipment will proceed with the unloading process.

[0082] Check whether the correct seal is installed: first convert the color space, convert the image from RGB to HSV space, calculate the coordinates (x, y) of the location area where the circular object exists, and extract the average color value in the coordinate area. If the difference between the average color value and the standard color value when the seal is correctly installed is within an acceptable range, it is considered to be installed correctly, otherwise it is considered that the wrong seal is installed.

[0083] Among them, the flow chart of the visual inspection method for cylinder liner inner wall defects is as follows Fig. 9 As shown, specifically including:

[0084] Use the inner wall lens to photograph the inner wall of the cylinder sleeve, output a grayscale image, smooth the image, and reduce noise interference;

[0085] Perform edge enhancement on the image, that is, strengthen the boundaries and details in the image to make the image clearer. Through convolution operation, the sharpening filter increases the high-frequency components (edges) in the image and highlights the boundaries.

[0086] Dilation of the image: First select the structural element, use a small rectangle to scan the image; then move the structural element over the image, if there are any foreground pixels in the area covered by the structural element, all pixels in the area are set to the foreground value. Finally, the foreground object will become larger, filling the small holes or gaps;

[0087] Erosion of the image: Use a small rectangle (structural element) to scan the image, slide the structural element point by point on the image, and compare each position of the structural element with the corresponding area of ​​the image. Then update the pixel value. For each position covered by the structural element, if all the pixels of the structural element are aligned with the foreground pixels, the pixel at the center of the structural element is set to the foreground value. If any position in the area covered by the structural element is not a foreground pixel, the pixel at the center of the structural element is set to the background value;

[0088] Detect whether there are abnormal bright spots in the image: Set the brightness threshold and divide the image into bright spot areas and ordinary areas. For several bright spot areas that may exist, calculate the pixel area size of each area. If the area is greater than 4 pixels, it is considered that there is a defect problem and further manual processing is required.

[0089] In addition, the solution of the present application can be expanded online to be compatible with other versions of products, and other versions of products can be freely maintained and added through debugging parameters, with high flexibility.

[0090] The solution of the present application realizes fully automatic inspection and pressing of cylinder liners during the cylinder liner pressing process. The loading and unloading devices, pressing devices and visual inspection tools support a variety of cylinder bodies and cylinder liners, and support the use of various engine models, which greatly reduces the workload and improves work efficiency. In addition, all collected data of the present invention is retained and uploaded to the production system. When quality problems occur later, traceability can be carried out based on the retained images and production data.

[0091] The embodiment of the present application also provides a controller. It should be noted that the controller of the embodiment of the present application can be used to execute the method for cylinder liner press-fitting provided by the embodiment of the present application. The controller is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0092] The controller provided in the embodiment of the present application is introduced below. The controller includes:

[0093] A first acquisition and determination unit, used to acquire first image data captured by the first visual inspection mechanism, and determine whether the inner sealing ring of the cylinder hole to be inspected is installed properly according to the first image data;

[0094] A second acquisition and determination unit is used to acquire second image data captured by the second visual inspection mechanism, and determine whether the outer sealing ring of the cylinder sleeve to be inspected is installed properly according to the second image data;

[0095] A third acquisition and determination unit is used to acquire third image data captured by the third visual inspection mechanism, and determine whether the cylinder liner to be inspected has defects according to the third image data;

[0096] The press-fitting unit is used to control the robot mechanism to grab the cylinder sleeve with no defects and qualified outer sealing ring installation, align it with the cylinder hole with qualified inner sealing ring installation, and after alignment, control the servo press to press the cylinder sleeve into the cylinder hole.

[0097] As an optional scheme, the first acquisition and determination unit includes a processing module and a first determination module. The processing module is used to denoise and smooth the first image data to obtain processed first image data; the first determination module is used to identify whether there is a circular target object or an elliptical target in the processed first image data, and determine that the inner sealing ring is missing if the circular target object or the elliptical target does not exist; if the circular target object or the elliptical target exists, determine whether the inner sealing ring is installed properly based on the color feature data of the circular target object or the elliptical target.

[0098] As an optional scheme, the first determination module includes a first acquisition submodule, a second acquisition submodule, a first determination submodule and a second determination submodule, the first acquisition submodule is used to acquire multiple color feature data within the coordinate area where the circular target object or the elliptical target object is located; the second acquisition submodule is used to acquire the average value of the multiple color feature data to obtain the average color value; the first determination submodule is used to determine the difference between the average color value and the standard color value when the inner sealing ring is qualifiedly installed; the second determination submodule is used to determine that the inner sealing ring is qualifiedly installed when the difference is within a preset difference range, and determine that the inner sealing ring is unqualified when the difference is not within the preset difference range.

[0099] As an optional solution, the third acquisition and determination unit includes a first processing submodule, a second processing submodule, a third acquisition submodule and a third determination submodule. The first processing submodule is used to perform image denoising and edge enhancement processing on the third image data to obtain processed third image data; the second processing submodule is used to perform expansion processing and corrosion processing on the processed third image data to obtain image data after expansion and corrosion; the third acquisition submodule is used to obtain an area in the image data after expansion and corrosion whose brightness value is greater than a brightness threshold to obtain a bright spot area; the third determination submodule is used to obtain whether the pixel area of ​​the bright spot area is greater than a preset pixel area. When the pixel area of ​​at least one bright spot area is greater than the preset pixel area, it is determined that the inner wall of the cylinder liner to be inspected is defective. When the pixel areas of all bright spot areas are less than or equal to the preset pixel area, it is determined that the inner wall of the cylinder liner to be inspected is not defective.

[0100] As an optional solution, the first acquisition and determination unit is used to control the rotation of the roller at the bottom of the cylinder hole to be detected, so as to control the first visual detection to start shooting to obtain the first image data after the cylinder hole to be detected is moved to the detection position;

[0101] Alternatively, the first visual detection mechanism can move in a vertical direction, which is a direction perpendicular to the ground. The first acquisition and determination unit is also used to control the first visual detection mechanism to move to different height positions in the vertical direction to capture multiple first image data.

[0102] As an optional solution, the third visual inspection mechanism can move and rotate in the vertical direction, and the vertical direction is the direction perpendicular to the ground. The third acquisition and determination unit includes a control module, a fusion module and a second determination module. The control module is used to control the third visual inspection mechanism to move to different height positions and rotate in the vertical direction to capture multiple third image data; the fusion module is used to fuse multiple third image data to obtain fused third image data; the second determination module is used to determine whether the cylinder liner to be inspected has defects based on the fused third image data.

[0103] The controller includes a processor and a memory. The first acquisition determination unit, the second acquisition determination unit, the third acquisition determination unit and the pressing unit are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The above modules are all located in the same processor; or, the above modules are located in different processors in any combination.

[0104] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the intelligent press-fitting of the cylinder liner can be achieved by adjusting the kernel parameters.

[0105] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0106] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the cylinder liner press-fitting method.

[0107] Specifically, the method of cylinder liner press-fitting includes:

[0108] Step S601, obtaining first image data captured by a first visual inspection mechanism, and determining whether the inner sealing ring of the cylinder hole to be inspected is installed properly according to the first image data;

[0109] Step S602, obtaining second image data captured by a second visual inspection mechanism, and determining whether the outer sealing ring of the cylinder sleeve to be inspected is installed properly according to the second image data;

[0110] Step S603, obtaining third image data captured by a third visual inspection mechanism, and determining whether the cylinder liner to be inspected has defects according to the third image data;

[0111] Step S604, controlling the manipulator mechanism to grab the cylinder liner without defects and with a qualified outer sealing ring, align it with the cylinder hole with a qualified inner sealing ring, and after alignment, controlling the servo press to press the cylinder liner into the cylinder hole.

[0112] An embodiment of the present invention provides a processor, which is used to run a program, wherein the cylinder liner press-fitting method is executed when the program is run.

[0113] Specifically, the method of cylinder liner press-fitting includes:

[0114] Step S601, obtaining first image data captured by a first visual inspection mechanism, and determining whether the inner sealing ring of the cylinder hole to be inspected is installed properly according to the first image data;

[0115] Step S602, obtaining second image data captured by a second visual inspection mechanism, and determining whether the outer sealing ring of the cylinder sleeve to be inspected is installed properly according to the second image data;

[0116] Step S603, obtaining third image data captured by a third visual inspection mechanism, and determining whether the cylinder liner to be inspected has defects according to the third image data;

[0117] Step S604, controlling the manipulator mechanism to grab the cylinder liner without defects and with a qualified outer sealing ring, align it with the cylinder hole with a qualified inner sealing ring, and after alignment, controlling the servo press to press the cylinder liner into the cylinder hole.

[0118] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0119] Step S601, obtaining first image data captured by a first visual inspection mechanism, and determining whether the inner sealing ring of the cylinder hole to be inspected is installed properly according to the first image data;

[0120] Step S602, obtaining second image data captured by a second visual inspection mechanism, and determining whether the outer sealing ring of the cylinder sleeve to be inspected is installed properly according to the second image data;

[0121] Step S603, obtaining third image data captured by a third visual inspection mechanism, and determining whether the cylinder liner to be inspected has defects according to the third image data;

[0122] Step S604, controlling the manipulator mechanism to grab the cylinder liner without defects and with a qualified outer sealing ring, align it with the cylinder hole with a qualified inner sealing ring, and after alignment, controlling the servo press to press the cylinder liner into the cylinder hole.

[0123] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0124] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0125] Step S601, obtaining first image data captured by a first visual inspection mechanism, and determining whether the inner sealing ring of the cylinder hole to be inspected is installed properly according to the first image data;

[0126] Step S602, obtaining second image data captured by a second visual inspection mechanism, and determining whether the outer sealing ring of the cylinder sleeve to be inspected is installed properly according to the second image data;

[0127] Step S603, obtaining third image data captured by a third visual inspection mechanism, and determining whether the cylinder liner to be inspected has defects according to the third image data;

[0128] Step S604, controlling the manipulator mechanism to grab the cylinder liner without defects and with a qualified outer sealing ring, align it with the cylinder hole with a qualified inner sealing ring, and after alignment, controlling the servo press to press the cylinder liner into the cylinder hole.

[0129] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0130] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0131] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0132] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0133] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0134] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0135] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0136] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape and disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0137] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0138] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for press-fitting a cylinder liner using a press-fitting device for an engine cylinder liner, characterized in that: The press-fitting equipment of the engine cylinder liner comprises a first visual inspection mechanism, which is installed on a side of the cylinder hole to be inspected away from the ground, and is used to capture the image of the inner sealing ring of the cylinder hole to be inspected to obtain first image data; a second visual inspection mechanism, which is installed on a side of the cylinder liner to be inspected away from the ground, and is used to capture the image of the outer sealing ring of the cylinder liner to be inspected to obtain second image data; a third visual inspection mechanism, which is installed on a side of the cylinder liner to be inspected away from the ground, and is used to capture the image of the inner wall of the cylinder liner to be inspected to obtain third image data; a manipulator mechanism and a servo press; a controller, which communicates with the first visual inspection mechanism, the second visual inspection mechanism, the third visual inspection mechanism, the manipulator mechanism and the servo press respectively, and the method comprises: Acquire first image data captured by a first visual inspection mechanism, and determine whether the inner sealing ring of the cylinder hole to be inspected is installed properly according to the first image data; Acquire second image data captured by a second visual inspection mechanism, and determine whether the outer sealing ring of the cylinder sleeve to be inspected is installed properly according to the second image data; Acquire third image data captured by a third visual inspection mechanism, and determine whether the cylinder liner to be inspected has defects according to the third image data; Control the manipulator mechanism to grab the cylinder sleeve without defects and with qualified outer sealing ring, align it with the cylinder hole with qualified inner sealing ring, and after alignment, control the servo press to press the cylinder sleeve into the cylinder hole; Determining whether the inner sealing ring of the cylinder hole to be inspected is installed properly according to the first image data includes: Performing denoising and smoothing processing on the first image data to obtain processed first image data; Identify whether there is a circular target object or an elliptical target in the processed first image data, and determine that the inner sealing ring is missing if there is no circular target object or the elliptical target. If the circular target object or the elliptical target exists, determine whether the inner sealing ring is installed properly based on color feature data of the circular target object or the elliptical target.

2. The method according to claim 1, characterized in that Determining whether the inner sealing ring is installed properly according to the color feature data of the circular target object or the elliptical target object includes: Acquire a plurality of color feature data within a coordinate region where the circular target object or the elliptical target object is located; Obtaining an average value of a plurality of the color feature data to obtain an average color value; Determine the difference between the average color value and the standard color value of the inner sealing ring when it is properly installed; When the difference is within the preset difference range, it is determined that the inner sealing ring is installed properly. When the difference is not within the preset difference range, it is determined that the inner sealing ring is installed unqualified.

3. The method according to claim 1, characterized in that Determining whether the cylinder liner to be inspected has defects according to the third image data includes: Performing image denoising and edge enhancement processing on the third image data to obtain processed third image data; Performing dilation processing and erosion processing on the processed third image data to obtain dilated and eroded image data; Acquire an area in the image data after dilation and corrosion where the brightness value is greater than a brightness threshold, and obtain a bright spot area; Obtain whether the pixel area of ​​the bright spot area is greater than the preset pixel area. When the pixel area of ​​at least one bright spot area is greater than the preset pixel area, determine that the inner wall of the cylinder liner to be inspected has defects. When the pixel areas of all the bright spot areas are less than or equal to the preset pixel area, determine that the inner wall of the cylinder liner to be inspected has no defects.

4. The method according to claim 1, characterized in that Acquiring the first image data captured by the first visual inspection mechanism, comprising: controlling the roller at the bottom of the cylinder hole to be inspected to rotate, so as to move the cylinder hole to be inspected to the inspection position and then controlling the first visual inspection mechanism to start shooting to obtain the first image data; Alternatively, the first visual detection mechanism can move in a vertical direction, where the vertical direction is a direction perpendicular to the ground, and obtaining the first image data captured by the first visual detection mechanism includes: controlling the first visual detection mechanism to move to different height positions in the vertical direction to capture multiple pieces of the first image data.

5. The method according to claim 1, characterized in that The third visual inspection mechanism is movable and rotatable in a vertical direction, wherein the vertical direction is a direction perpendicular to the ground, and the third image data captured by the third visual inspection mechanism is obtained, and whether the cylinder liner to be inspected has defects is determined according to the third image data, including: Controlling the third visual detection mechanism to move to different height positions in the vertical direction and rotate to capture a plurality of the third image data; Performing fusion processing on the plurality of third image data to obtain fused third image data; Determine whether the cylinder liner to be inspected has defects based on the fused third image data.

Images