Automatic assembly guidance method and system for engine large gear and small gear

Abstract

The present invention belongs to the field of engine assembly technology and provides a method and system for guiding the automatic assembly of large and small gears of an engine. The method uses a small gear camera and a manipulator to perform nine-point calibration, converting the visual coordinates of the small gear camera into mechanical coordinates; based on the position of the small gear camera during modeling and the gear angle, the actual position deviation and required rotation angle of the small gear are calculated; based on the gear angle of the large gear camera during modeling, the required rotation angle of the large gear is calculated, and the required rotation angle of the large gear is converted into a servo motor pulse, which drives the large gear to rotate to a reference position; the required rotation angle of the small gear is converted into the required rotation angle of the large gear, and then the required rotation angle of the large gear is converted into a servo motor pulse, which drives the large gear to rotate. The present invention can accurately identify the tooth profile features of the gear, achieve high-precision automatic tooth recognition, effectively improve the assembly quality of the engine fuel injection pump, improve production efficiency, and reduce labor costs.

Description

Technical Field

[0001] The present invention belongs to the technical field of engine assembly, and in particular relates to a method and system for automatically assembling a large gear and a small gear of an engine. Background Art

[0002] In engine manufacturing, gear assembly is a critical process that determines the performance of core components like fuel injection pumps. Traditional assembly processes have long relied on manual or semi-automated operations, relying on experienced workers to manually rotate the pinion (fuel injection pump gear) using a robot to identify the gears. This process presents the following challenges:

[0003] 1. Manual operation efficiency is extremely low. It often takes a long time for a skilled worker to complete the tooth identification and initial assembly of a set of gears. This seriously restricts the overall production capacity of the assembly line in large-scale industrial production.

[0004] 2. Manual tooth recognition is greatly affected by subjective factors and is prone to human errors. According to relevant industry statistics, the engine defective rate caused by manual tooth recognition errors is as high as 5%-10% in some factories. This not only causes waste of raw materials and labor costs, but may also have a negative impact on the company's reputation due to product quality issues.

[0005] 3. There is an error between the center of rotation of the robot and the center of the pinion, which cannot ensure stable rotation around the center of the gear, resulting in frequent failures in gear recognition and damage to the gear, resulting in low production yield and waste of raw materials. Summary of the Invention

[0006] The purpose of the present invention is to overcome the existing defects and provide an automatic assembly guidance method and system for a large gear and a small gear of an engine.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A method for guiding automatic assembly of a large gear and a small gear of an engine comprises:

[0009] Use the pinion camera and the manipulator to perform nine-point calibration to convert the pinion camera visual coordinates into the manipulator's mechanical coordinates;

[0010] According to the position of the pinion camera during modeling and the gear angle, the actual position deviation and required rotation angle of the pinion are calculated;

[0011] According to the gear angle when the large gear camera is modeled, the required rotation angle of the large gear is calculated, and the required rotation angle of the large gear is converted into servo motor pulses. The servo motor drives the large gear to rotate to the reference position;

[0012] The angular difference between the current position of the small gear and the reference position is converted into the rotation angle of the large gear through the gear ratio calculation formula. Then, the rotation angle of the large gear is converted into servo motor pulses through secondary calculation. The servo motor drives the large gear to rotate to the position where the small gear matches.

[0013] Furthermore, the pinion camera and the manipulator are used to perform nine-point calibration to convert the pinion camera visual coordinates into the mechanical coordinates of the manipulator, including:

[0014] Use a manipulator to grab the pinion and move it to nine positions in sequence along an S-shaped trajectory within the field of view of the pinion camera. Record the mechanical coordinates of the nine points, and the pinion camera captures images of the nine positions.

[0015] Use the circle finder tool to find the center positions of the nine images and record them to obtain the pixel coordinates of the nine points.

[0016] Input the pixel coordinates and mechanical coordinates of the 9 points into the calibration tool and the calibration is completed.

[0017] Furthermore, the actual position deviation and required rotation angle of the pinion are calculated based on the position of the pinion camera during modeling and the gear angle, including:

[0018] Find the pinion reference circle center in the pinion reference position image and record it;

[0019] Find the current pinion center in the pinion camera detection image, and calculate the offset of the current pinion in the X and Y directions by comparing it with the reference center. The robot will offset the pinion according to the offset in the X and Y directions when installing the pinion.

[0020] Use the circle finding tool to find the center of the pinion in the pinion reference position image, use the template matching tool to locate the pinion engraving line, and use the template matching tool to find the outer contour of the gear where the engraving line is located using the pinion engraving line as the location. Fit the pinion center and the center of the outer contour of the gear where the engraving line is located to form a reference line.

[0021] Use the circle finding tool to find the center of the pinion in the pinion camera inspection image, use the template matching tool to locate the pinion engraving line, and use the template matching tool to find the outer contour of the gear where the engraving line is located using the pinion engraving line as the location. Fit the pinion center and the center of the gear outer contour where the engraving line is located to form a detection line.

[0022] Use the line-to-line angle calculation tool to calculate the angle between the current detection line and the reference line to obtain the required rotation angle of the pinion.

[0023] Furthermore, the gear angle when the large gear camera is modeled is used to calculate the required rotation angle of the large gear, including:

[0024] Find the center of the large gear in the large gear reference position image, locate the large gear engraving line, use the template matching tool to find the outer contour of the gear where the engraving line is located, and fit the center of the large gear and the center of the outer contour of the gear where the engraving line is located to form a reference line;

[0025] Find the center of the large gear in the large gear camera detection image, locate the large gear engraving line, use the large gear engraving line as a positioning to find the outer contour of the gear where the engraving line is located, and fit the center of the large gear and the center of the outer contour of the gear where the engraving line is located into a detection line;

[0026] Calculate the angle between the current detection line and the reference line to obtain the required rotation angle of the large gear.

[0027] Furthermore, the required rotation angle of the large gear is converted into servo motor pulses using the following formula:

[0028]

[0029] Among them, CW is the servo motor pulse, R2 is the required rotation angle of the large gear, Coef is the servo motor rotation coefficient, N2 is the number of large gear teeth, and N3 is the number of crankshaft gear teeth.

[0030] Furthermore, the gear ratio calculation formula is used to convert the required rotation angle of the small gear into the required rotation angle of the large gear, and then the required rotation angle of the large gear is converted into servo motor pulses through secondary calculation, which is expressed as:

[0031]

[0032] Where CW is the servo motor pulse, R1 is the required rotation angle of the pinion, Coef is the servo motor rotation coefficient, N1 is the number of pinion teeth, and N3 is the number of crankshaft gear teeth.

[0033] Another object of the present invention is to provide an automatic assembly guidance system for engine gears and pinions, comprising:

[0034] A manipulator, used to grip and move the fuel injection pump;

[0035] The servo motor is connected to the engine crankshaft and drives the crankshaft to rotate, and the crankshaft drives the large gear to rotate;

[0036] A large gear camera is used to collect images of large gears;

[0037] A pinion camera, used for collecting images of the pinion;

[0038] The visual inspection module is used to detect the required rotation angles of the large gear and the small gear using the large gear image and the small gear image.

[0039] In combination with the above technical solutions, the present invention has the following beneficial effects compared with the prior art:

[0040] The present invention uses dual cameras to collect images and precise image processing algorithms to accurately identify the tooth profile features of gears. It converts the required rotation angle of the small gear into the required rotation angle of the large gear, and then converts the required rotation angle of the large gear into servo motor pulses through secondary calculation, thereby achieving high-precision automatic tooth recognition. The pure visual accuracy can reach ±0.05mm, and the overall accuracy of the equipment can reach ±0.1mm. This solves the problem of the error between the rotation center of the manipulator and the center of the small gear, which cannot ensure stable rotation around the gear center, resulting in frequent tooth recognition failures and damage to the gear, resulting in low production yield and waste of raw materials, and effectively improving the assembly quality of the engine injection pump; through the automated tooth recognition process, the gear assembly time is greatly shortened, production efficiency is improved, and the needs of large-scale production are met; manual operation links are reduced, labor costs are reduced, and the influence of human errors on assembly quality is avoided. The present invention solves the problem of low efficiency and easy occurrence of human errors in the manual tooth recognition method, and meets the needs of modern large-scale production. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0042] Figure 1 This is a flow chart of a method for guiding automatic assembly of a large gear and a small gear of an engine provided by an embodiment of the present invention;

[0043] Figure 2 is a schematic diagram of a calibration image of a pinion camera provided by an embodiment of the present invention;

[0044] Figure 3 is a schematic diagram of a reference position image of a pinion provided by an embodiment of the present invention;

[0045] Figure 4 3 is a schematic diagram of a reference position image of a large gear provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0047] Example 1, as Figure 1 FIG. 1 is an embodiment of the method for guiding the automatic assembly of a large gear and a small gear of an engine provided by the present invention, comprising:

[0048] S1: Use the pinion camera and the manipulator to perform nine-point calibration to convert the pinion camera visual coordinates into the manipulator's mechanical coordinates;

[0049] S2: Based on the position of the pinion camera when modeling and the gear angle, calculate the actual position deviation of the pinion and the required rotation angle;

[0050] S3: Calculate the required rotation angle of the large gear according to the gear angle when the large gear camera is modeled, convert the required rotation angle of the large gear into servo motor pulses, and the servo motor drives the large gear to rotate to the reference position;

[0051] S4: The angle difference between the current position of the small gear and the reference position is converted into the rotation angle of the large gear through the gear ratio calculation formula. Then, the rotation angle of the large gear is converted into servo motor pulses through secondary calculation. The servo motor drives the large gear to rotate to the position where the small gear matches.

[0052] Specifically, in step S1, the specific steps of converting the pinion camera visual coordinates into the mechanical coordinates of the manipulator include:

[0053] Step 1: Stick the marking paper to the surface of the gear.

[0054] Step 2: The robot grips the gear and moves it to 9 positions in sequence along an S-shaped trajectory within the camera's field of view, records the mechanical coordinates of the 9 points, and the camera records the images of the 9 points.

[0055] Step 3: Use the circle finder tool to find the center positions of the circle marks in the 9 images and record them to obtain the pixel coordinates of the 9 points.

[0056] Step 4: Input the pixel coordinates and mechanical coordinates corresponding to the 9 points into the calibration tool, and the calibration is completed.

[0057] The correspondence between the visual coordinate system (pixels) and the mechanical coordinate system (mm) is as follows:

[0058] Mechanical coordinate system = rotation coefficient * image coordinate + displacement coefficient

[0059] Expressed as:

[0060]

[0061] After expansion, we get the following formula:

[0062]

[0063]

[0064] It can be transformed into the problem of finding the coefficients of the following three-variable linear equation:

[0065]

[0066]

[0067] Respectively expressed as:

[0068]

[0069] and

[0070]

[0071] in, 、 is the coordinate parameter of the mechanical coordinate system, X, Y are the coordinate parameters of the image coordinate system, R is the rotation coefficient, M is the displacement coefficient, a, b, 、 Represents the rotation coefficient parameter when converting the image coordinate system to the mechanical coordinate system, c, It is the displacement coefficient parameter when converting the image coordinate system to the mechanical coordinate system. When we have at least three sets of corresponding image coordinate points and mechanical coordinate points in the application process, we can substitute them into the three-variable linear equation to calculate a, b, c, 、 、 . 、 is the coordinate parameter of the first set of mechanical coordinate system, 、 are the coordinate parameters of the second set of mechanical coordinate system, 、 are the coordinate parameters of the third set of mechanical coordinate systems, 、 is the coordinate parameter of the first set of image coordinate system, 、 are the coordinate parameters of the second set of image coordinate system, 、 are the coordinate parameters of the third set of image coordinate system.

[0072] According to the above formula, at least 3 points are required to calculate the coefficients of the matrix transformation, but in order to improve accuracy and reduce errors, 9 points are generally selected for calculation.

[0073] like Figure 2 The following table shows an example of a pinion camera calibration image. The calibration error is 0.94 pixels. The calibration data used is shown in the table below. A total of nine sets of data were used for calibration.

[0074] Table 1 Calibration data

[0075] Location Uncorrected X Uncorrected Y Original Corrected X Original corrected Y 1 1846.7 1702.8 335.4 -389.26 2 1057.55 1684 286.37 -388.76 3 256.73 1658.26 236.67 -388.46 4 278.18 859.623 236.27 -437.96 5 1086.71 889.519 286.47 -438.06 6 1883.88 916.965 336.07 -438.16 7 1909.86 275.552 336.23 -477.87 8 1109.45 238.476 286.6 -478.35 9 298.042 208.885 236.15 -478.34

[0076] like Figure 3 The figure shows the reference position image of the pinion. In step S2, the actual position deviation and required rotation angle of the pinion are calculated based on the position of the pinion camera during modeling and the gear angle, which specifically includes:

[0077] Step 1: Use the circle finder tool in the pinion reference position image to find the center of the pinion and record it.

[0078] Step 2: Use the circle finder tool to find the center of the current pinion in the pinion camera detection image. Calculate the offset of the current pinion in the X and Y directions by comparing it with the reference circle center. When installing the pinion, the robot will offset according to the offset in the X and Y directions.

[0079] Step 3: Use the circle finding tool to find the center of the pinion in the pinion reference position image, use the template matching tool to locate the pinion engraving line, use the template matching tool to find the outer contour of the gear where the engraving line is located, and use the point-to-point line tool to fit the center of the pinion and the center of the outer contour of the gear where the engraving line is located into a reference line (such as Figure 3 A in ).

[0080] Step 3: Use the circle finding tool to find the center of the pinion in the pinion camera detection image, use the template matching tool to locate the pinion engraving line, use the template matching tool to find the outer contour of the gear where the engraving line is located, and use the point-to-point line tool to fit the center of the pinion and the center of the outer contour of the gear where the engraving line is located into a detection line (such as Figure 3 B in ).

[0081] Step 5: Use the line-to-line angle calculation tool to calculate the angle between the current detection line and the reference line to obtain the required rotation angle of the pinion.

[0082] like Figure 4 The image shown is the reference position image of the large gear. In step S3, the required rotation angle of the large gear is calculated based on the gear angle when the large gear camera is modeled. The required rotation angle of the large gear is converted into servo motor pulses, and the servo motor drives the large gear to rotate. Specifically, the process includes:

[0083] Step 1: Use the circle finding tool to find the center of the large gear in the large gear reference position image, use the template matching tool to locate the large gear engraving line, use the template matching tool to find the outer contour of the gear where the engraving line is located, and use the point-to-point line tool to fit the center of the large gear and the center of the outer contour of the gear where the engraving line is located into a reference line (such as Figure 4 C in ).

[0084] Step 2: Use the circle finding tool to find the center of the large gear in the large gear camera detection image, use the template matching tool to locate the large gear engraving line, use the template matching tool to find the outer contour of the gear where the engraving line is located, and use the point-to-point line tool to fit the center of the large gear and the center of the outer contour of the gear where the engraving line is located into a detection line (such as Figure 4 D in ).

[0085] Step 3: Use the line-to-line angle calculation tool to calculate the angle between the current detection line and the reference line to determine the required rotation angle of the large gear.

[0086] Step 4: Convert the gear angle into servo motor pulses through calculation formula.

[0087] The algorithm used in this step is as follows:

[0088] Servo motor pulse = large gear rotation angle × servo motor rotation coefficient × (large gear teeth number ÷ crankshaft gear teeth number)

[0089] Expressed as:

[0090]

[0091] in, is the servo motor pulse, is the angle that the large gear needs to rotate, is the servo motor rotation coefficient, is the number of teeth on the large gear, is the number of crankshaft gear teeth.

[0092] In step S4, the angle difference between the current position of the small gear and the reference position is converted into the rotation angle of the large gear through the gear ratio calculation formula, and then the rotation angle of the large gear is converted into servo motor pulses through secondary calculation, which specifically includes:

[0093] Step 1: Convert the small gear angle to the large gear angle using the formula.

[0094] Step 2: Convert the large gear angle into servo motor rotation pulses through the formula.

[0095] The algorithm used in this step is as follows:

[0096] 1. Convert the small gear angle to the large gear angle formula:

[0097] The required rotation angle of the large gear = the required rotation angle of the small gear * (the number of teeth of the small gear ÷ the number of teeth of the large gear)

[0098] Expressed as:

[0099]

[0100] 2. Convert the large gear angle to the servo motor pulse formula:

[0101] Servo motor pulse = large gear rotation angle × servo motor rotation coefficient × (large gear teeth number ÷ crankshaft gear teeth number)

[0102] Expressed as:

[0103]

[0104] Combining the two formulas to simplify is:

[0105] Servo motor pulse = pinion rotation angle × servo motor rotation coefficient × (pinion teeth number ÷ crankshaft gear teeth number)

[0106] Expressed as:

[0107] .

[0108] in, is the angle that the pinion needs to rotate, is the angle that the large gear needs to rotate, is the number of pinion teeth, is the number of teeth on the large gear, is the number of crankshaft gear teeth, is the servo motor pulse, is the servo motor rotation coefficient.

[0109] Embodiment 2, the present invention provides an automatic assembly guidance system for a large gear and a small gear of an engine, comprising:

[0110] The robot is used to clamp the fuel injection pump (pinion) to the pinion camera's photo position for photo processing, and to substitute the pinion offset (X-direction offset, Y-direction offset) given by the pinion camera into the pinion installation position and perform position offset.

[0111] The servo motor is connected to the engine crankshaft and drives the crankshaft to rotate, and the crankshaft drives the large gear to rotate;

[0112] A large gear camera is used to collect images of large gears;

[0113] A pinion camera, used for collecting images of the pinion;

[0114] The visual inspection module is used to detect the required rotation angles of the large gear and the small gear using the large gear image and the small gear image.

[0115] The present invention uses a servo motor connected to the engine crankshaft. By driving the crankshaft to rotate, the crankshaft gear drives the large gear to rotate. This ensures that the angle of the small gear remains constant, converting the required rotation angle of the small gear into the corresponding rotation angle of the large gear, thereby achieving precise meshing and installation positioning of the gear system.

[0116] The workflow of the engine gear and pinion automatic assembly guidance system provided by the embodiment of the present invention includes:

[0117] Step 1: The robot grabs the pinion and the servo motor is connected to the engine crankshaft.

[0118] Step 2: After the large gear camera takes the image, the visual inspection module performs calculations and converts the large gear angle into servo motor pulses, which then drives the large gear to rotate.

[0119] Step 3: The robot grabs the fuel injection pump (pinion) and brings it to the pinion camera's photo taking position. The pinion camera takes the image, and the visual inspection module performs calculations.

[0120] Step 4: The visual inspection module calculates and converts the required rotation angle of the small gear into the angle of the large gear, and then converts the required rotation angle of the large gear into servo motor pulses. The servo motor drives the large gear to rotate.

[0121] Step 5: The robot recognizes and installs the pinion gear based on the results sent by the visual inspection module.

[0122] It should be understood that, although the various steps in the flow charts of the various embodiments of the present invention are shown in sequence according to the instructions of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless otherwise specified in the present invention, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the various embodiments may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0123] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When executed, the program can include the processes of the above-described method embodiments. Any reference to memory, storage, database, or other media used in the various embodiments provided herein may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0124] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A method for guiding the automatic assembly of a large gear and a small gear of an engine, characterized in that: The method comprises: Use the pinion camera and the manipulator to perform nine-point calibration to convert the pinion camera visual coordinates into the manipulator's mechanical coordinates; According to the position of the pinion camera during modeling and the gear angle, the actual position deviation and required rotation angle of the pinion are calculated; According to the gear angle when the large gear camera is modeled, the required rotation angle of the large gear is calculated, and the required rotation angle of the large gear is converted into servo motor pulses. The servo motor drives the large gear to rotate to the reference position; The gear ratio calculation formula is used to convert the required rotation angle of the small gear into the rotation angle of the large gear. Then, through secondary calculation, the rotation angle of the large gear is converted into servo motor pulses. The servo motor drives the large gear to rotate to a position that matches the small gear.

2. The method for guiding the automatic assembly of a large gear and a small gear of an engine according to claim 1, characterized in that: The pinion camera and the manipulator are used to perform nine-point calibration to convert the pinion camera visual coordinates into the manipulator's mechanical coordinates, including: Use a manipulator to grab the pinion and move it to nine positions in sequence along an S-shaped trajectory within the field of view of the pinion camera. Record the mechanical coordinates of the nine points, and the pinion camera captures images of the nine positions. Use the circle finder tool to find the center positions of the nine images and record them to obtain the pixel coordinates of the nine points. Input the pixel coordinates and mechanical coordinates of the 9 points into the calibration tool and the calibration is completed.

3. The method for guiding the automatic assembly of a large gear and a small gear of an engine according to claim 1, characterized in that: The calculation of the actual position deviation and required rotation angle of the pinion gear according to the position of the pinion gear camera during modeling and the gear angle includes: Find the pinion reference circle center in the pinion reference position image and record it; Find the current pinion center in the pinion camera detection image, and calculate the offset of the current pinion in the X and Y directions by comparing it with the reference center. The robot will offset the pinion according to the offset in the X and Y directions when installing the pinion. Use the circle finding tool to find the center of the pinion in the pinion reference position image, use the template matching tool to locate the pinion engraving line, and use the template matching tool to find the outer contour of the gear where the engraving line is located using the pinion engraving line as the location. Fit the pinion center and the center of the outer contour of the gear where the engraving line is located to form a reference line. Use the circle finding tool to find the center of the pinion in the pinion camera inspection image, use the template matching tool to locate the pinion engraving line, and use the template matching tool to find the outer contour of the gear where the engraving line is located using the pinion engraving line as the location. Fit the pinion center and the center of the gear outer contour where the engraving line is located to form a detection line. Use the line-to-line angle calculation tool to calculate the angle between the current detection line and the reference line to obtain the required rotation angle of the pinion.

4. The method for guiding the automatic assembly of a large gear and a small gear of an engine according to claim 1, characterized in that: The calculation of the required rotation angle of the large gear according to the gear angle when the large gear camera is modeled includes: Find the center of the large gear in the large gear reference position image, locate the large gear engraving line, use the template matching tool to find the outer contour of the gear where the engraving line is located, and fit the center of the large gear and the center of the outer contour of the gear where the engraving line is located to form a reference line; Find the center of the large gear in the large gear camera detection image, locate the large gear engraving line, use the large gear engraving line as a positioning to find the outer contour of the gear where the engraving line is located, and fit the center of the large gear and the center of the outer contour of the gear where the engraving line is located into a detection line; Calculate the angle between the current detection line and the reference line to obtain the required rotation angle of the large gear.

5. The method for guiding the automatic assembly of a large gear and a small gear of an engine according to claim 1, characterized in that: The conversion of the required rotation angle of the large gear into the servo motor pulse is calculated using the following formula: ； Among them, CW is the servo motor pulse, R2 is the required rotation angle of the large gear, Coef is the servo motor rotation coefficient, N2 is the number of large gear teeth, and N3 is the number of crankshaft gear teeth.

6. The method for guiding the automatic assembly of a large gear and a small gear of an engine according to claim 1, characterized in that: The gear ratio calculation formula is used to convert the required rotation angle of the small gear into the required rotation angle of the large gear, and then the required rotation angle of the large gear is converted into servo motor pulses through secondary calculation, which is expressed as: ； Where CW is the servo motor pulse, R1 is the required rotation angle of the pinion, Coef is the servo motor rotation coefficient, N1 is the number of pinion teeth, and N3 is the number of crankshaft gear teeth.

7. An automatic assembly guidance system for engine gears and pinions using the automatic assembly guidance method for engine gears and pinions according to any one of claims 1 to 6, characterized in that: The system comprises: A manipulator, used to grip and move the pinion; The servo motor is connected to the engine crankshaft and drives the crankshaft to rotate, and the crankshaft drives the large gear to rotate; A large gear camera is used to collect images of large gears; A pinion camera, used for collecting images of the pinion; The visual inspection module is used to detect the required rotation angles of the large gear and the small gear using the large gear image and the small gear image.

Images