Automatic centering glue injection system and method for engine

Abstract

The invention discloses an automatic centering glue injection system and method for an engine. The technical problems that an existing glue injection process is low in efficiency, poor in safety and the like are mainly solved. The glue injection system comprises a control module, a fixed base, a first automatic centering module, a clamping jaw assembly and a glue injection pipe. The control module is used for driving the fixed base to move; the first automatic centering module is mounted at one end, close to a glue injection hole, of the to-be-glue-injected engine, of the fixed base; the clamping jaw assembly is located between the first automatic centering module and the engine to be subjected to glue injection and comprises a clamping jaw base, a clamping jaw and an air cylinder. The air cylinder is installed above the clamping jaw base and electrically connected with the control module. The clamping jaw is mounted below the clamping jaw seat, is connected with the output end of the air cylinder and is used for clamping a glue injection pipe; the glue injection pipe is of a hollow structure, one end of the glue injection pipe is used for being connected with a glue storage device, and the other end of the glue injection pipe is opposite to the glue injection hole and matched with the glue injection hole in size and structure. According to the glue injection system, the glue injection efficiency and safety of the engine are improved.

Description

Technical Field

[0001] The invention relates to the production of a large aspect ratio engine, and in particular to an engine automatic centering and glue injection system and method. Background Art

[0002] A high aspect ratio engine refers to an engine with a longer cylinder length to diameter ratio, which has higher power density and performance. Due to the particularity of the charge structure of this type of engine, the local stress concentration phenomenon is particularly obvious. To address this phenomenon, the injection process is generally required to solve the stress concentration problem.

[0003] At present, the engine injection process is mostly carried out by manual injection, which has a low degree of automation, resulting in low injection efficiency. In addition, since there is no dedicated process equipment and the glue used for injection contains hazardous substances, it also poses a certain threat to the safety of operators. Summary of the invention

[0004] The purpose of the present invention is to solve the technical problems of low efficiency and poor safety of the existing glue injection process, and to provide an engine automatic centering glue injection system and method.

[0005] To achieve the above objectives, the technical solutions provided by the present invention are:

[0006] An engine automatic centering and glue injection system, one end of the engine to be injected with glue is provided with a glue injection hole and an exhaust hole, and the special feature is that it includes a control module, a fixed base, a first automatic centering module, a clamping claw assembly and a glue injection pipe;

[0007] The control module is connected to the fixed base through a manipulator, and is used to drive the fixed base to move to a corresponding position; the first automatic centering module is installed at one end of the fixed base close to the engine to be injected with glue, where the injection hole is provided;

[0008] The clamping jaw assembly is located between the first automatic centering module and the engine to be injected with glue, and includes a clamping jaw seat, a clamping jaw and a cylinder; the cylinder is installed above the clamping jaw seat and is electrically connected to the control module; the clamping jaw is installed below the clamping jaw seat and is connected to the output end of the cylinder to clamp the injection tube;

[0009] The glue injection tube is a hollow structure, one end of which is used to connect to the storage device of the glue liquid, and the other end is opposite to the glue injection hole and is adapted to the size and structure of the glue injection hole; the direction parallel to the central axis of the glue injection tube is defined as the X direction, the direction parallel to the horizontal radial direction of the glue injection tube is defined as the Y direction, and the direction parallel to the vertical diameter of the glue injection tube is defined as the Z direction;

[0010] The first automatic centering module includes a first adjustment component, a second adjustment component and a third adjustment component which are slidably connected in sequence; the first adjustment component is slidably connected to the clamping jaw seat, and is used to adjust the position of the glue injection tube in the Y direction; the second adjustment component adjusts the position of the glue injection tube in the Z direction through the first adjustment component; the third adjustment component is installed on the fixed base, and adjusts the position of the glue injection tube in the X direction through the first adjustment component and the second adjustment component.

[0011] Further, the first adjustment assembly includes a first support and a first group of plungers; the side of the clamping claw seat away from the engine to be injected is slidably connected to the first support along the Y direction through a slider; the first group of plungers includes a plurality of first spring plungers installed at both ends of the first support in the Y direction and parallel to each other, and the installation direction of each first spring plunger is consistent with the sliding direction of the clamping claw seat, and is connected to the left and right ends of the slider;

[0012] The second adjustment assembly includes a second support and a second group of plungers; the first support is slidably connected to the second support along the Z direction at one side away from the clamping jaw seat; the second group of plungers includes a plurality of second spring plungers installed at both ends of the second support in the Z direction and parallel to each other, the installation direction of each second spring plunger is consistent with the sliding direction of the first support, and is connected to the upper and lower ends of the first support;

[0013] The third adjustment assembly includes a third support and a third group of plungers; the third support is located on a side of the second support away from the first support and is installed on a fixed base; the bottom of the second support is installed on the fixed base and is slidably connected to the fixed base along the X direction; the third group of plungers includes a plurality of third spring plungers installed on the third support and parallel to each other, the installation direction of each third spring plunger is consistent with the sliding direction of the second support, and is connected to a side of the second support close to the third support.

[0014] Further, it also includes a second automatic centering module, a three-jaw chuck and a blocking pin;

[0015] The second automatic centering module has the same structure as the first automatic centering module, and the two are respectively located on both sides of the fixed base close to one end of the engine to be injected with glue;

[0016] One end of the plugging pin is clamped in one end of the three-jaw chuck with a clamping claw, and the other end is opposite to the exhaust hole of the engine to be injected with glue, and is used to block the exhaust hole set at this end, and is adapted to the size and structure of the exhaust hole;

[0017] The three-jaw chuck is electrically connected to the control module, and one end away from the chuck is slidably connected to the first support of the second automatic centering module along the Y direction.

[0018] Furthermore, a proximity switch is respectively provided on the third support of the first automatic centering module and the second automatic centering module, and the proximity switch is arranged parallel to the third spring plunger and is electrically connected to the control module; when the injection tube fails to align with the injection hole or the blocking pin fails to align with the exhaust hole, the clamp or the claw is squeezed so that the second support touches the proximity switch, and the proximity switch feeds back a signal to the control module and alarms.

[0019] Furthermore, it also includes a visual module; the visual module is installed on a fixed base, one end of which is opposite to one end of the engine to be injected with glue holes and exhaust holes, and the other end is connected to the control module; the visual module is used to capture the position image information of the injection holes and the exhaust holes respectively, and feed this information back to the control module.

[0020] At the same time, the present invention also provides an engine automatic centering and glue injection method, comprising the following steps:

[0021] Step [1], pre-fix the engine to be injected with glue on the assembly station;

[0022] Step [2], according to the structure and size of the glue injection hole, select a corresponding glue injection tube, and assemble the engine automatic centering glue injection system of the present invention so that one end of the glue injection tube is close to the end of the glue injection hole of the engine to be injected;

[0023] Step [3], the control module controls the fixed base to move through the manipulator until the end of the glue injection tube close to the engine to be injected is opposite to the glue injection hole, and then the glue injection tube is inserted into the glue injection hole. During this process, the glue injection tube and the glue injection hole are automatically aligned through the first automatic centering module;

[0024] Step [4], the glue liquid enters the interior of the engine to be injected through the glue injection tube and the glue injection hole in sequence, thereby completing the glue injection.

[0025] Furthermore, step [3] specifically includes the following steps:

[0026] 3.1. The visual module captures the position image information of the injection hole of the engine to be injected and feeds it back to the control module. The control module establishes the position coordinate system of the injection hole according to the position influence information and determines the moving direction and distance of the injection tube;

[0027] 3.2. Based on step 3.1, the control module controls the fixed base to move through the manipulator until the glue injection tube is opposite to the glue injection hole;

[0028] 3.3. The control module continues to control the movement of the fixed base through the manipulator, so as to extend the glue injection tube into the glue injection hole. During this process, the glue injection tube and the glue injection hole are automatically aligned through the first automatic centering module.

[0029] Furthermore, the method also includes step [5], after the glue injection is completed, the glue injection tube is pulled out, the control module controls the movement of the fixed base through a manipulator, and extends the plugging pin into the exhaust hole to seal the exhaust hole.

[0030] Furthermore, step [5] specifically includes the following steps:

[0031] 5.1. After the glue injection is completed, the glue injection tube is pulled out, and the position image information of the exhaust hole of the engine to be injected is captured by the visual module and fed back to the control module. The control module establishes the position coordinate system of the exhaust hole according to the position influence information and determines the moving direction and distance of the plugging pin;

[0032] 5.2. Based on step 5.1, the control module controls the fixed base to move through the manipulator until the plugging pin is opposite to the exhaust hole;

[0033] 5.3. The control module continues to control the fixed base to move through the manipulator, so as to extend the plugging pin into the exhaust hole. During this process, the plugging pin and the exhaust hole are automatically aligned through the second automatic centering module.

[0034] 5.4. The control module controls the jaws of the three-jaw chuck to loosen the blocking pin, so that the blocking pin remains in the exhaust hole, thereby sealing the exhaust hole.

[0035] Furthermore, in step [2], a chamfer is provided on the port of the glue injection hole close to one end of the glue injection tube.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. The engine automatic centering and glue injection system provided by the present invention comprises a control module, a fixed base, a first automatic centering module, a clamping jaw assembly and a glue injection tube, wherein the control module is used to drive the fixed base to move to a corresponding position; the clamping jaw assembly is used to clamp the glue injection tube, and the first automatic centering module is used to timely adjust the orientation of the glue injection tube in the X direction, the Y direction, and the Z direction, so as to automatically center the glue injection tube and the glue injection hole. This method has a high centering efficiency, thereby improving the glue injection efficiency.

[0038] 2. The engine automatic centering and glue injection system provided by the present invention can also adjust the position of the plugging pin in the X direction, Y direction, and Z direction in a timely manner through the second automatic centering module to achieve automatic centering of the plugging pin and the exhaust hole.

[0039] 3. The engine automatic centering and glue injection system provided by the present invention is provided with proximity switches on the third supports of the first automatic centering module and the second automatic centering module respectively. When the glue injection tube fails to align with the glue injection hole or the plug fails to align with the exhaust hole, the clamp or the claw is squeezed so that the second support touches the proximity switch, and the proximity switch feeds back the signal to the control module and alarms, thereby improving the safety of the glue injection system.

[0040] 4. The engine automatic centering and glue injection system provided by the present invention can also use a visual module to automatically capture the position image information of the glue injection hole and the exhaust hole, and then automatically adjust the position of the glue injection hole through the control module.

[0041] 5. The engine automatic centering and glue injection method provided by the present invention has a high degree of automation, simple operation, and a high alignment rate, thereby improving the efficiency of the glue injection and the safety of the glue injection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of an embodiment of an engine automatic centering and glue injection system of the present invention (the control module is not shown).

[0043] Figure 2 It is a reference diagram of the use status of an embodiment of an engine automatic centering and glue injection system of the present invention.

[0044] Figure 3 It is a structural schematic diagram of an embodiment of an engine automatic centering and glue injection system of the present invention, in which a fixed base is connected in sequence with a first automatic centering module, a clamping claw assembly and a glue injection pipe.

[0045] Figure 4 It is a structural schematic diagram of a fixed base in an embodiment of an engine automatic centering and glue injection system of the present invention.

[0046] Figure 5 It is a structural schematic diagram of the connection between the first automatic centering module and the clamping claw assembly in an embodiment of an engine automatic centering and glue injection system of the present invention.

[0047] Figure 6 It is a structural schematic diagram of a second automatic centering module connected in sequence with a three-jaw chuck and a blocking pin in an embodiment of an engine automatic centering and glue injection system of the present invention.

[0048] The reference numerals are as follows:

[0049] 1-fixed base, 2-first automatic centering module, 21-first adjusting assembly, 211-first support, 212-first spring plunger, 22-second adjusting assembly, 221-second support, 222-second spring plunger, 23-third adjusting assembly, 231-third support, 232-third spring plunger, 233-proximity switch, 3-jaw assembly, 31-jaw seat, 32-jaw, 33-cylinder, 4-glue injection hose, 5-second automatic centering module, 6-three-jaw chuck, 61-claw, 7-blocking pin, 8-visual module, 9-engine to be injected, 91-glue injection hole, 92-exhaust hole. DETAILED DESCRIPTION

[0050] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0051] like Figure 1 , Figure 2 As shown, this embodiment provides an automatic centering glue injection system used in the glue injection process of a large aspect ratio engine, including a control module, a fixed base 1, a first automatic centering module 2, a clamping jaw assembly 3 and a glue injection tube 4. The system has a high degree of automation, high efficiency and simple operation.

[0052] The control module is connected to the fixed base 1 through a manipulator, and is used to drive the fixed base 1 to move to a corresponding position. The specific structure of the fixed base 1 is not limited, and can be processed into Figure 4 The structure shown in the figure is provided with one or more weight-reducing holes, and can also be designed into a corresponding structure according to actual needs.

[0053] The first automatic centering module 2 is installed on one end of the fixed base 1 close to the engine 9 to be injected with glue. One end of the engine 9 to be injected with glue is provided with a glue injection hole 91 and an exhaust hole 92. The first automatic centering module is located at this end (that is, the end of the engine 9 with the glue injection hole 91).

[0054] like Figure 3 As shown, the clamp assembly 3 is located between the first automatic centering module 2 and the engine 9 to be injected with glue, and includes a clamp seat 31, a clamp 32 and a cylinder 33; the cylinder 33 is installed above the clamp seat 31 and is electrically connected to the control module; the clamp 32 is installed below the clamp seat 31 and is connected to the output end of the cylinder 33, and the control module drives the cylinder 33 to work, thereby realizing the gripping of the injection tube 4 through the clamp 32.

[0055] The glue injection tube 4 is a hollow structure, one end of which is used to connect to the storage device of the glue liquid, and the other end is opposite to the glue injection hole 91 and is adapted to the size and structure of the glue injection hole 91. For the convenience of description, this embodiment defines the direction parallel to the central axis of the glue injection tube 4 as the X direction, the direction parallel to the horizontal radial direction of the glue injection tube 4 as the Y direction, and the direction parallel to the vertical diameter of the glue injection tube 4 as the Z direction.

[0056] Combination Figure 3 and Figure 5 As shown, the first automatic centering module 2 includes a first adjustment component 21, a second adjustment component 22 and a third adjustment component 23 which are slidably connected in sequence, wherein the first adjustment component 21 is slidably connected to the clamping claw seat 31 for adjusting the position of the glue injection tube 4 in the Y direction.

[0057] Specifically, the first adjustment component 21 includes a first support 211 and a first group of plungers; the side of the clamping claw seat 31 away from the engine 9 to be injected is slidably connected to the first support 211 along the Y direction through a slider; the first group of plungers includes a plurality of first spring plungers 212 installed at both ends of the first support 211 in the Y direction and parallel to each other, and the installation direction of each first spring plunger 212 is consistent with the sliding direction of the clamping claw seat 31, and is threadedly connected to the left and right ends of the slider.

[0058] The second adjustment component 22 adjusts the position of the injection tube 4 in the Z direction through the first adjustment component 21, specifically: the second adjustment component 22 includes a second support 221 and a second group of plungers; the first support 211 is slidably connected to the second support 221 along the Z direction on the side away from the clamping claw seat 31; the second group of plungers includes a plurality of second spring plungers 222 installed at both ends of the second support 221 in the Z direction and parallel to each other, and the installation direction of each second spring plunger 222 is consistent with the sliding direction of the first support 211, and is threadedly connected to the upper and lower ends of the first support 211.

[0059] The third adjustment component 23 is installed on the fixed base 1, and adjusts the position of the injection tube 4 in the X direction through the first adjustment component 21 and the second adjustment component 22. Specifically, the third adjustment component 23 includes a third support 231 and a third group of plungers; the third support 231 is located on the side of the second support 221 away from the first support 211, and is installed on the fixed base 1; the bottom of the second support 221 is installed on the fixed base 1 and is slidably connected to the fixed base 1 along the X direction; the third group of plungers includes a plurality of third spring plungers 232 installed on the third support 231 and parallel to each other, and the installation direction of each third spring plunger 232 is consistent with the sliding direction of the second support 221, and is threadedly connected to the side of the second support 221 close to the third support 231.

[0060] Combination Figure 1 and Figure 6 As shown, the present embodiment also includes a second automatic centering module 5, a three-jaw chuck 6 and a blocking pin 7; wherein, the structure of the second automatic centering module 5 is exactly the same as that of the first automatic centering module 2, and the structure of the second automatic centering module 5 is not repeated here. The first automatic centering module 2 and the second automatic centering module 5 are respectively located on both sides of the fixed base 1 close to one end of the engine 9 to be injected with glue.

[0061] One end of the blocking pin 7 is clamped in one end of the three-jaw chuck 6 with a clamping claw 61, and the other end is opposite to the exhaust hole 92 of the engine 9 to be injected with glue, and is used to block the exhaust hole 92 set at this end, and is adapted to the size and structure of the exhaust hole 92.

[0062] The three-jaw chuck 6 is electrically connected to the control module, and the control module can control the three-jaw chuck to grab the blocking pin 7. One end of the three-jaw chuck 6 away from the claw 61 is slidably connected to the first support 211 of the second automatic centering module 5 along the Y direction.

[0063] Combination Figure 1 and Figure 4 As shown, in this embodiment, a support plate is respectively provided on both sides of one end of the fixed base 1 close to the engine 9 to be injected with glue, the first automatic centering module 2 is installed above one of the support plates, and the second automatic centering module 5 is installed below the other support plate, so as to ensure that the two do not interfere with each other during operation.

[0064] Combination Figure 5 and Figure 6 As shown, in order to improve the safety of the system, in this embodiment, proximity switches 233 are respectively provided on the third supports 231 of the first automatic centering module 2 and the second automatic centering module 5. The proximity switch 233 is arranged parallel to the third spring plunger 232 and is electrically connected to the control module; when the glue injection tube 4 fails to align with the glue injection hole 91 or the blocking pin 7 fails to align with the exhaust hole 92, the clamping claw 32 or the clamping claw 61 is squeezed so that the second support 221 touches the proximity switch 233, and the proximity switch 233 will feed back the signal to the control module and alarm.

[0065] In order to further improve the automation of the system, the present embodiment further includes a visual module 8, which is mounted on the fixed base 1, with one end of the visual module 8 facing the end of the engine 9 to be injected with glue, where the injection hole 91 and the exhaust hole 92 are provided, and the other end is connected to the control module. The visual module 8 is used to capture the position image information of the injection hole 91 and the exhaust hole 92 respectively, and feed this information back to the control module.

[0066] The engine automatic centering glue injection system of the present invention mainly realizes the functions of automatically grabbing the glue injection tube 4 and the blocking pin 7 and automatically aligning and adjusting, and has a high degree of automation and good safety and reliability.

[0067] This embodiment also provides an engine automatic centering and glue injection method, comprising the following steps:

[0068] Step [1]: Pre-fix the engine 9 to be injected with glue on the assembly station.

[0069] Step [2], select the corresponding glue injection tube 4 according to the structure and size of the glue injection hole 91, and assemble the engine automatic centering glue injection system described in this embodiment. At this time, the clamp 32 has grasped the glue injection tube, and one end of the glue injection tube 4 is close to the end of the glue injection hole 91 provided in the engine 9 to be injected.

[0070] Step [3], the control module controls the fixed base 1 to move through the manipulator so that the glue injection tube 4 is opposite to the glue injection hole 91, and then the first automatic centering module 2 realizes automatic centering of the glue injection tube 4 and the glue injection hole 91, specifically:

[0071] 3.1. The visual module 8 captures the position image information of the injection hole 91 of the engine 9 to be injected with glue, and feeds it back to the control module. The control module establishes the position coordinate system of the injection hole 91 according to the position influence information, and determines the moving direction and distance of the injection tube 4.

[0072] 3.2. The control module controls the fixed base 1 to move in the direction determined in step 3.1 through the manipulator until the glue injection tube 4 is opposite to the glue injection hole 91.

[0073] 3.3. After the glue injection tube 4 is aligned with the glue injection hole 91, the control module continues to control the fixed base 1 to move forward through the manipulator, so that the glue injection tube 4 is extended into the glue injection hole 91. During this process, when the glue injection tube 4 and the glue injection hole 91 are slightly offset, the first automatic centering module 2 can realize adaptive adjustment of the glue injection tube 4 and the glue injection hole 91.

[0074] In this embodiment, a chamfer is provided at the port of the glue injection hole 91 near one end of the glue injection tube 4. When the glue injection tube 4 is inserted into the glue injection hole 91, when the glue injection tube 4 is slightly offset from the glue injection hole 91, the glue injection tube 4 will slide into the glue injection hole 91 along the chamfer, and then each support in the first automatic centering module 2 will move accordingly along the X direction, Y direction or Z direction according to the sliding direction of the glue injection tube 4. During this process, the spring plunger corresponding to the moving direction will be squeezed, and then the spring plunger will quickly reset to complete the adjustment of the orientation of the glue injection tube 4, thereby realizing automatic centering.

[0075] Step [4], the glue liquid enters the interior of the engine 9 to be injected with glue through the glue injection tube 4 and the glue injection hole 91 in sequence, thereby completing the glue injection.

[0076] Step [5]: After the glue injection is completed, the control module controls the fixed base 1 to move through the manipulator, and extends the plugging pin 7 into the exhaust hole 92 to seal the exhaust hole 92.

[0077] 5.1. After the glue injection is completed, the control module controls the fixed base 1 in the opposite path to step 3 to pull out the glue injection tube 4; then the visual module 8 captures the position image information of the exhaust hole 92 of the engine 9 to be injected with glue, and feeds it back to the control module. The control module establishes the position coordinate system of the exhaust hole 92 according to the position influence information, and determines the moving direction and distance of the blocking pin 7.

[0078] 5.2. The control module controls the fixed base 1 to move through the manipulator according to the direction and distance determined in step 5.1 until the blocking pin 7 is opposite to the exhaust hole 92.

[0079] 5.3. When the blocking pin 7 is aligned with the exhaust hole 92, the control module continues to control the fixed base 1 to move through the manipulator, so that the blocking pin 7 is inserted into the exhaust hole 92. During this process, when the positions of the blocking pin 7 and the exhaust hole 92 are slightly deviated, the second automatic centering module 5 realizes automatic centering of the blocking pin 7 and the exhaust hole 92. Similarly, the outer end of the exhaust hole 92 is also provided with a chamfer, which can assist the second automatic centering module 5 to realize the adaptive adjustment of the blocking pin 7 and the exhaust hole 92.

[0080] 5.4. The control module controls the claw 61 of the three-claw chuck 6 to loosen the blocking pin 7, so that the blocking pin 7 remains in the exhaust hole 92, thereby achieving the blocking of the exhaust hole 92.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present invention.

Claims

1. An automatic centering and glue injection system for an engine, wherein one end of an engine (9) to be glue injected is provided with a glue injection hole (91) and an exhaust hole (92), and is characterized in that: It comprises a control module, a fixed base (1), a first automatic centering module (2), a clamping jaw assembly (3) and a glue injection tube (4); The control module is connected to the fixed base (1) via a manipulator and is used to drive the fixed base (1) to move to a corresponding position; the first automatic centering module (2) is installed at one end of the fixed base (1) close to the engine (9) to be injected with glue and provided with a glue injection hole (91); The clamping jaw assembly (3) is located between the first automatic centering module (2) and the engine (9) to be injected with glue, and comprises a clamping jaw seat (31), a clamping jaw (32) and a cylinder (33); the cylinder (33) is installed above the clamping jaw seat (31) and is electrically connected to the control module; the clamping jaw (32) is installed below the clamping jaw seat (31) and is connected to the output end of the cylinder (33) and is used to clamp the injection tube (4); The glue injection tube (4) is a hollow structure, one end of which is used to connect to a storage device for glue liquid, and the other end is opposite to the glue injection hole (91) and is adapted to the size and structure of the glue injection hole (91); the direction parallel to the central axis of the glue injection tube (4) is defined as the X direction, the direction parallel to the horizontal radial direction of the glue injection tube (4) is defined as the Y direction, and the direction parallel to the vertical diameter direction of the glue injection tube (4) is defined as the Z direction; The first automatic centering module (2) comprises a first adjustment component (21), a second adjustment component (22) and a third adjustment component (23) which are slidably connected in sequence; the first adjustment component (21) is slidably connected to the clamping jaw seat (31) and is used to adjust the position of the glue injection tube (4) in the Y direction; the second adjustment component (22) adjusts the position of the glue injection tube (4) in the Z direction through the first adjustment component (21); the third adjustment component (23) is installed on the fixed base (1) and adjusts the position of the glue injection tube (4) in the X direction through the first adjustment component (21) and the second adjustment component (22).

2. The engine automatic centering and glue injection system according to claim 1, characterized in that: The first adjustment component (21) comprises a first support (211) and a first group of plungers; the side of the clamping claw seat (31) away from the engine (9) to be injected with glue is slidably connected to the first support (211) along the Y direction via a slider; the first group of plungers comprises a plurality of first spring plungers (212) installed at both ends of the first support (211) in the Y direction and parallel to each other, the installation direction of each first spring plunger (212) is consistent with the sliding direction of the clamping claw seat (31), and is connected to the left and right ends of the slider; The second adjustment assembly (22) comprises a second support (221) and a second group of plungers; a side of the first support (211) away from the clamping claw seat (31) is slidably connected to the second support (221) along the Z direction; the second group of plungers comprises a plurality of second spring plungers (222) installed at both ends of the second support (221) in the Z direction and parallel to each other, the installation direction of each second spring plunger (222) is consistent with the sliding direction of the first support (211), and is connected to the upper and lower ends of the first support (211); The third adjustment assembly (23) comprises a third support (231) and a third group of plungers; the third support (231) is located on a side of the second support (221) away from the first support (211) and is mounted on the fixed base (1); the bottom of the second support (221) is mounted on the fixed base (1) and is slidably connected to the fixed base (1) along the X direction; the third group of plungers comprises a plurality of third spring plungers (232) mounted on the third support (231) and parallel to each other, the mounting direction of each third spring plunger (232) being consistent with the sliding direction of the second support (221) and being connected to a side of the second support (221) close to the third support (231).

3. The engine automatic centering and glue injection system according to claim 2 is characterized by: It also includes a second automatic centering module (5), a three-jaw chuck (6) and a blocking pin (7); The second automatic centering module (5) has the same structure as the first automatic centering module (2), and the two are respectively located on both sides of the fixed base (1) close to one end of the engine (9) to be injected with glue; One end of the blocking pin (7) is clamped in one end of the three-jaw chuck (6) provided with a clamping claw (61), and the other end is opposite to the exhaust hole (92) of the engine (9) to be injected with glue, and is used to block the exhaust hole (92) provided at the end, and is adapted to the size and structure of the exhaust hole (92); The three-jaw chuck (6) is electrically connected to the control module, and one end away from the clamping claw (61) is slidably connected to the first support (211) of the second automatic centering module (5) along the Y direction.

4. The engine automatic centering and glue injection system according to claim 3 is characterized by: A proximity switch (233) is provided on the third support (231) of the first automatic centering module (2) and the second automatic centering module (5), respectively. The proximity switch (233) is arranged in parallel with the third spring plunger (232) and is electrically connected to the control module. When the glue injection tube (4) fails to align with the glue injection hole (91) or the plugging pin (7) fails to align with the exhaust hole (92), the clamping claw (32) or the clamping claw (61) is squeezed so that the second support (221) touches the proximity switch (233), and the proximity switch (233) feeds back a signal to the control module and alarms.

5. The engine automatic centering and glue injection system according to any one of claims 1 to 4, characterized in that: The invention also comprises a visual module (8); the visual module (8) is mounted on the fixed base (1), one end of the visual module (8) is opposite to one end of the engine (9) to be injected with glue, where the injection hole (91) and the exhaust hole (92) are provided, and the other end is connected to the control module; the visual module (8) is used to capture the position image information of the injection hole (91) and the exhaust hole (92) respectively, and feed this information back to the control module.

6. An automatic engine centering and glue injection method, characterized in that: The following steps are involved: Step [1], pre-fixing the engine (9) to be injected with glue on the assembly station; Step [2], selecting a corresponding glue injection tube (4) according to the structure and size of the glue injection hole (91), and assembling the engine automatic centering glue injection system according to any one of claims 1 to 5, so that one end of the glue injection tube (4) is close to one end of the engine (9) to be injected with glue, where the glue injection hole (91) is provided; Step [3], the control module controls the fixed base (1) to move through the manipulator until the end of the glue injection tube (4) close to the engine (9) to be injected with glue is opposite to the glue injection hole (91), and then the glue injection tube (4) is inserted into the glue injection hole (91). During this process, the glue injection tube (4) and the glue injection hole (91) are automatically aligned through the first automatic centering module (2); Step [4], the glue liquid enters the interior of the engine (9) to be injected with glue through the glue injection pipe (4) and the glue injection hole (91) in sequence, thereby completing the glue injection.

7. The method for automatic engine centering and glue injection according to claim 6, characterized in that: Step [3] specifically includes the following steps: 3.

1. The position image information of the injection hole (91) of the engine (9) to be injected with glue is captured by the visual module (8) and fed back to the control module. The control module establishes the position coordinate system of the injection hole (91) according to the position influence information and determines the moving direction and distance of the injection tube (4); 3.

2. Based on step 3.1, the control module controls the fixed base (1) to move through the manipulator until the glue injection tube (4) is opposite to the glue injection hole (91); 3.

3. The control module continues to control the fixed base (1) to move through the manipulator, thereby extending the glue injection tube (4) into the glue injection hole (91). During this process, the glue injection tube (4) and the glue injection hole (91) are automatically aligned through the first automatic centering module (2).

8. The method for automatic engine centering and glue injection according to claim 6 or 7, characterized in that: Also includes: Step [5]: After the glue injection is completed, the glue injection tube (4) is pulled out, and the control module controls the fixed base (1) to move through the manipulator, and extends the blocking pin (7) into the exhaust hole (92) to achieve the blocking of the exhaust hole (92).

9. The method for automatic engine centering and glue injection according to claim 8, characterized in that: Step [5] specifically includes the following steps: 5.

1. After the glue injection is completed, the glue injection tube (4) is pulled out, and the position image information of the exhaust hole (92) of the engine (9) to be injected with glue is captured by the visual module (8), and fed back to the control module. The control module establishes the position coordinate system of the exhaust hole (92) according to the position influence information, and determines the moving direction and distance of the blocking pin (7); 5.

2. Based on step 5.1, the control module controls the fixed base (1) to move by means of a manipulator until the blocking pin (7) is aligned with the exhaust hole (92); 5.

3. The control module continues to control the fixed base (1) to move through the manipulator, thereby extending the blocking pin (7) into the exhaust hole (92). During this process, the blocking pin (7) and the exhaust hole (92) are automatically aligned through the second automatic centering module (5); 5.

4. The control module controls the clamping claw (61) of the three-jaw chuck (6) to loosen the blocking pin (7), so that the blocking pin (7) remains in the exhaust hole (92), thereby achieving the blocking of the exhaust hole (92).

10. The method for automatic engine centering and glue injection according to claim 9, characterized in that: In step [2], the glue injection hole (91) is provided with a chamfer near the end of the glue injection tube (4).

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