Timing gear assembly positioning system based on machine vision

Abstract

The present invention discloses a timing gear assembly assembly positioning system based on machine vision. The present invention relates to the field of gear assembly technology and solves the problem that the original assembly positioning system lacks an effective debugging and verification mechanism. The present invention obtains an image of the gear assembly on which the main gear has been installed, and identifies the built-in center point of the main gear from the acquired image. Based on the built-in center point and the gear assembly, the associated reference model is confirmed, and then the reference model is debugged and verified to confirm the position of the center point of the differently meshing adapters. Based on the specific features of the corresponding meshing teeth and meshing grooves of the corresponding adapters, the line segment features associated with the corresponding groove bodies are identified. Based on the corresponding line segment features, the assembly points are debugged and the optimal assembly point is locked, so as to ensure the actual assembly processing effect of subsequent assembly positioning and achieve a more standardized assembly positioning processing process.

Description

Technical Field

[0001] The present invention relates to the technical field of gear assembly, and in particular to a timing gear assembly positioning system based on machine vision. Background Art

[0002] In the field of modern mechanical manufacturing, especially in the production of automobile engines and precision machinery, the assembly accuracy of timing gear assemblies plays a decisive role in the overall performance and reliability of the equipment. Traditional timing gear assembly positioning relies mainly on manual operation or simple mechanical positioning devices. During manual assembly, operators need to rely on experience to judge the installation position and angle of the gears. This is not only inefficient, but also difficult to ensure the consistency of assembly accuracy. Problems such as poor gear meshing and valve timing phase deviation are prone to occur, affecting the power output and service life of the equipment. Although simple mechanical positioning devices improve assembly efficiency to a certain extent, they are less flexible and difficult to adapt to gear assemblies of different models and specifications. In addition, positioning accuracy is greatly affected by factors such as mechanical structure wear.

[0003] With the development of automated production technology, some companies have begun to adopt traditional machine vision technology to assist in the assembly and positioning of timing gears. However, existing machine vision-based assembly and positioning systems have many limitations. For example, they lack accurate recognition of gear features, making it impossible to accurately lock the gear installation points. When dealing with gear meshing relationships, they lack effective debugging and verification mechanisms, making it difficult to ensure sufficient meshing between gears. This can lead to vibration, noise, and even transmission failure during operation of the assembled gear assembly. Furthermore, existing systems lack versatility, making it difficult to meet the assembly needs of diverse products and unable to achieve comprehensive quality control of the assembly process.

[0004] Therefore, there is an urgent need for a high-precision, intelligent, and adaptable timing gear assembly positioning system to solve the problems existing in the existing technology and improve assembly quality and production efficiency. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the present invention provides a timing gear assembly assembly positioning system based on machine vision, which solves the problem that the original assembly positioning system lacks an effective debugging and verification mechanism.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a timing gear assembly positioning system based on machine vision, comprising:

[0007] The image processing end performs feature verification on the acquired gear assembly image, locks several contour areas in the image, and confirms the main gear model associated with this gear assembly based on the associated model of the gear assembly. Then, through the verification process of the main gear model, the installation positioning point of the main gear in the gear assembly image is locked. The specific method is as follows:

[0008] Based on the acquired gear assembly image, the Sobel algorithm is used to confirm the vertical gradient and vertical gradient associated with different pixel points in the gear assembly image. Based on the confirmed vertical gradient and vertical gradient, the comprehensive gradient associated with the corresponding pixel point is confirmed. , mark the pixels that satisfy: comprehensive gradient > Y1 as gradient pixels, where Y1 is a preset value, connect several adjacent gradient pixels in sequence, confirm the edge contour associated with the corresponding continuous adjacent gradient pixels, and record the area surrounded by this edge contour as the contour area;

[0009] Based on the associated model of the gear assembly, confirm the main gear model associated with this gear assembly, confirm the model contour associated with the main gear model, and perform coincidence verification on the confirmed model contour and different contour areas. During the coincidence verification process, control the model contour to rotate and scale according to the internal center point. Synchronize the coincidence verification process and lock the coincidence. When the coincidence meets 100%, the corresponding contour area is recorded as the main wheel area, and the center position point of the main wheel area is calibrated. This center position point is the position feature associated with the overall edge contour of this gear assembly, which facilitates the subsequent specific construction of the dynamic model.

[0010] The dynamic model generator, based on the associated model of the gear assembly, locks the part model bodies associated with the gear assembly and the main gear part model body, and then generates a virtual dynamic model of this gear assembly based on the specific installation characteristics. The specific method is as follows:

[0011] Based on the associated model of the gear assembly, the part model body associated with the gear assembly is locked from the part model library, and this part model body is recorded as the base model body;

[0012] Based on the determined reference model and the determined center position point, the main gear part model body is adapted and moved to the center position point, and then the adaptation installation hole is confirmed from the reference model body, and the adaptation gear part model body associated with the adaptation installation hole is confirmed, and the adaptation gear part model body is aligned with the center point of the adaptation installation hole. The adaptation gear part model body is provided by the part model library. The model body after the dynamic construction processing is completed is recorded as a virtual dynamic model and transmitted to the feature debugging and analysis terminal for initial debugging;

[0013] The feature debugging and analysis end debugs and verifies the model bodies associated with the constructed virtual dynamic model. Based on the specific debugging features, the position features associated with the model bodies are determined and preliminary debugging is performed to complete the initial debugging process. The specific methods are as follows:

[0014] From the constructed virtual dynamic model, identify the main gear part model body and the adapter gear part model body, record the main gear part model body as the main body, and record the adapter gear part model body as the adapter;

[0015] The adapter that is in meshing relationship with the main body is confirmed, and the position feature of the adapter is debugged: the main body mounting hole is connected to the center point of the adapter mounting hole, a set of standard lines are confirmed, and then based on the meshing process of the main body and the adapter, the debugging time is confirmed. The protruding end point of the single meshing tooth of the adapter corresponding to the debugging time coincides with the standard line, the meshing tooth that coincides with the standard line is recorded as the pending tooth, the meshing groove where the pending tooth is located is calibrated as the pending groove, the two end points of the pending groove are interconnected, a set of dividing lines are confirmed, the intersection point generated between the dividing line and the standard line is locked, and then the intersection point between the standard line and the pending groove is confirmed, the part of the line segment between the two intersection points is recorded as the calibration segment, and a set of vertical feature segments belonging to this calibration segment are constructed, and the two end points of the vertical feature segment are connected to the pending groove;

[0016] The intersection between the vertical feature segment and the to-be-determined tooth is recorded as the built-in segment, and the intersection between the vertical segment and the to-be-determined groove is recorded as the debugging segment. The numerical values ​​of the debugging segments on both sides are identified: if the length of the debugging segment on one side is greater than the length of the debugging segment on the other side, the center point of the adapter is controlled to move horizontally from one side to the other side until the length values ​​of the two debugging segments are the same;

[0017] If the length of the debugging segment on one side is smaller than the length of the debugging segment on the other side, the center point of the aptamer is controlled to move horizontally from the other side to the one side until the lengths of the two debugging segments are the same.

[0018] If the length of the debugging section on one side is equal to the length of the debugging section on the other side, no adjustment is required.

[0019] Preferably, it also includes:

[0020] The image acquisition end acquires an image of the timing gear assembly on which the main gear is installed, and transmits the acquired gear assembly image to the image processing end.

[0021] Preferably, it also includes:

[0022] The assembly positioning confirmation end performs secondary debugging on several adaptive gear part model bodies that have completed the initial debugging process, so that the position features associated with several adaptive gear part model bodies are changed. Based on the change results, the optimal assembly positioning point associated with each adaptive gear part model body is locked. The specific method is as follows:

[0023] Based on the calibration segments confirmed in the undetermined tooth and the undetermined slot, the intersection segment between the calibration segment and the undetermined slot is recorded as the debugging feature segment, and the length value L of the debugging feature segment associated with each different adapter corresponding to the undetermined tooth is recorded. k , where k represents different aptamers;

[0024] Set the length value L k Verify with the preset standard length, the standard length is the preset length, if L k = standard length, there is no need to re-adjust the associated aptamer. If L k ≠standard length, then move the center point of the adapter according to the horizontal plane of the calibration section to the confirmed length value L k When it is consistent with the preset standard length, stop and complete the secondary debugging process;

[0025] After the secondary debugging process is completed, the center point position associated with each adapter body is confirmed, and this center point position is recorded as the optimal assembly positioning point associated with the corresponding adapter gear part model body.

[0026] The present invention provides a timing gear assembly positioning system based on machine vision. Compared with the existing technology, it has the following advantages:

[0027] The present invention acquires an image of a gear assembly on which the main gear has been installed, and identifies the built-in center point of the main gear from the acquired image. Based on the built-in center point and the gear assembly, the associated reference model is confirmed. Then, by debugging and verifying the reference model, the position of the center point of the adapter with different meshing is confirmed. Based on the specific features of the corresponding meshing teeth and meshing grooves of the corresponding adapters, the line segment features associated with the corresponding groove body are identified. Based on the corresponding line segment features, the assembly point is debugged and the optimal assembly point is locked, so as to ensure the actual assembly processing effect of the subsequent assembly positioning and achieve a more standardized assembly positioning processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the principle framework of the present invention;

[0029] Figure 2 Schematic diagram showing the associated line segments of the present invention. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] First embodiment

[0032] See also Figure 1 The present application provides a timing gear assembly assembly positioning system based on machine vision, including an image acquisition end, an image processing end, a part model library, a dynamic model generation end, a feature debugging and analysis end, and an assembly positioning confirmation end. Specifically, the image acquisition end is electrically connected to an input node of the image processing end, and the image processing end is electrically connected to an input node of the dynamic model generation end, and the part model library is electrically connected to an input node of the dynamic model generation end, and the dynamic model generation end is electrically connected to an input node of the feature debugging and analysis end or an input node of the assembly positioning confirmation end, respectively, and the feature debugging and analysis end is electrically connected to an input node of the assembly positioning confirmation end;

[0033] Among them, the image acquisition end acquires the image of the timing gear assembly with the main gear installed, and transmits the acquired gear assembly image to the image processing end. The image acquisition is acquired by the corresponding machine vision equipment. The corresponding gear assembly is placed in the designated area for image acquisition. The main gear is installed in the middle position of the placed gear assembly, and the relevant adapter gears are not installed in other positions. Subsequently, based on the actual assembly positioning process, the assembly positioning points of different adapter gears are confirmed to facilitate the subsequent gear installation and deployment;

[0034] The image processing end performs feature verification on the acquired gear assembly image, locks several contour areas in the image, confirms the main gear model associated with the gear assembly based on the associated model of the gear assembly, and then locks the installation positioning point of the main gear in the gear assembly image through the verification process of the main gear model. The specific method for locking the installation positioning point is:

[0035] Based on the acquired gear assembly image, the Sobel algorithm is used to confirm the vertical gradient and vertical gradient associated with different pixel points in the gear assembly image. Specifically, in the confirmation process, the corresponding assembly image is preferentially grayscaled to confirm the grayscale value associated with each different pixel point, and based on the pixel value between the corresponding pixel point and the surrounding pixel points, combined with different preset weights, the pixel value is multiplied by the associated weight, and then several groups of products are summed to confirm the vertical gradient and vertical gradient associated with the corresponding pixel point. Since the method of confirming the pixel gradient is more common in the prior art, it will not be elaborated here. Based on the confirmed vertical gradient and vertical gradient, the comprehensive gradient associated with the corresponding pixel point is confirmed. , the pixels that meet the following conditions: comprehensive gradient > Y1 are marked as gradient pixels, where Y1 is a preset value, and its specific value is determined by the operator based on experience. Several adjacent gradient pixels are connected in sequence to confirm the edge contour associated with the corresponding continuous adjacent gradient pixels. The area surrounded by this edge contour is recorded as the contour area. Specifically, in the gear assembly image, basically each different area is a corresponding contour area. Since the internal structure of the gear is relatively regular, the edge contour points of each different area can be effectively confirmed, that is, the corresponding gradient pixel points;

[0036] Based on the associated model of the gear assembly, the main gear model associated with this gear assembly is confirmed, and the model contour associated with the main gear model is confirmed. The confirmed model contour is checked for coincidence with different contour areas. During the coincidence verification process, the model contour is controlled to rotate and scale based on the internal center point (rotation is to ensure the coincidence between the gears, and scaling is to ensure the relative consistency of the dimensions of the two contours during verification). Synchronously during the coincidence verification process, the coincidence is locked. When the coincidence meets 100%, the corresponding contour area is recorded as the main wheel area, and the center position point of the main wheel area is calibrated (the so-called main wheel area is the center position of the corresponding main gear in the gear assembly. Subsequently, the model can be constructed based on this center position. When confirming the center point of its contour area, it can be confirmed based on a two-dimensional coordinate system. Based on the two-dimensional coordinates associated with different contour points on the edge of the contour area, several groups of two-dimensional coordinates are averaged to determine the mean coordinates). This center position point is the position feature associated with the overall edge contour of this gear assembly, which facilitates the subsequent specific construction of the dynamic model.

[0037] The dynamic model generation end, based on the associated model of the gear assembly, locks the part model body associated with the gear assembly and the main gear part model body, and then generates a virtual dynamic model of this gear assembly according to the specific installation characteristics. The specific generation method is as follows:

[0038] Based on the associated model of the gear assembly, the part model body associated with the gear assembly is locked from the part model library, and this part model body is recorded as the base model body;

[0039] Based on the determined reference model and the determined center position point, the main gear part model body is adapted and moved to the center position point (that is, the center point of the main gear part model is consistent with the center position point), and then the adaptation mounting hole (that is, the mounting hole at other positions) is confirmed from the reference model body, and the adaptation gear part model body associated with the adaptation mounting hole is confirmed, and the adaptation gear part model body is aligned with the center point of the adaptation mounting hole to complete the adaptation process of the adaptation gear part model body. The adaptation gear part model body is provided by the part model library, and the model body after the dynamic construction processing is completed is recorded as a virtual dynamic model and transmitted to the feature debugging analysis end for initial debugging.

[0040] After the corresponding virtual dynamic model is constructed, the corresponding adapter gear part model body and the associated main gear part model body can be dynamically rotated according to the corresponding center point. During the dynamic rotation process, the gears will rotate according to the adaptation, and the gears will rotate according to the meshing action to realize the meshing transmission rotation.

[0041] Its parts model library contains various gear models, which are preset and stored by the operator in advance;

[0042] Among them, the feature debugging and analysis end, based on the constructed virtual dynamic model, debugs and verifies the model body associated with it. Based on the specific debugging features, it determines the position features associated with its model body and performs preliminary debugging to complete the initial debugging process. The specific method of performing the initial debugging is:

[0043] From the constructed virtual dynamic model, identify the main gear part model body and the adapter gear part model body, record the main gear part model body as the main body, and record the adapter gear part model body as the adapter;

[0044] Confirm the adapter that is in meshing relationship with the main body, and debug the position feature of this adapter: connect the main body mounting hole and the center point of the adapter mounting hole, confirm a set of standard lines, and then confirm the debugging time based on the meshing process of the main body and the adapter. At the debugging time, the protruding end point of a single meshing tooth of the corresponding adapter coincides with the standard line (in the meshing process, the adapter and the main body rotate based on the meshing action, then the meshing teeth and meshing grooves are in a dynamic state. During the rotation process, the end point of the corresponding meshing tooth will coincide with the standard line. Coincident with the determined standard line, then the corresponding coincidence moment is the corresponding debugging moment), the meshing tooth coinciding with the standard line is recorded as the pending tooth, the meshing slot where the pending tooth is located is calibrated as the pending slot, the two endpoints of the pending slot are interconnected, a set of dividing lines is determined, the intersection points generated between the dividing lines and the standard line are locked, and then the intersection points between the standard line and the pending slot are determined, the part of the line segment between the two intersection points is recorded as the calibration segment, and a set of vertical feature segments belonging to this calibration segment are constructed, and the two endpoints of each vertical feature segment are connected to the pending slot;

[0045] The intersection between the vertical feature segment and the to-be-determined tooth is recorded as the built-in segment, and the intersection between the vertical segment and the to-be-determined groove is recorded as the debugging segment. The numerical values ​​of the debugging segments on both sides are identified: if the length of the debugging segment on one side is greater than the length of the debugging segment on the other side, the center point of the adapter is controlled to move horizontally from one side to the other side until the length values ​​of the two debugging segments are consistent. Otherwise, the same debugging method is used to adjust the length values ​​to be consistent.

[0046] If the length of the debugging section on one side is equal to the length of the debugging section on the other side, no adjustment is required;

[0047] This debugging method is used for each aptamer and host to complete the initial debugging process.

[0048] Specifically, the purpose of debugging here is to ensure that the corresponding adapter and the main body are more fully engaged, rather than causing the gap between the two gears to be larger on one side and smaller on the other side due to the error relationship. This fully guarantees the corresponding meshing characteristics, so that the positioning effect is better during subsequent installation and positioning.

[0049] Combine Figure 2 Based on the center point 2 associated with the corresponding subject and the center point 1 associated with the aptamer, the standard line between the two points can be confirmed. Figure 2 The state shown is the corresponding motion state associated with the corresponding debugging moment. In the corresponding pending teeth and pending grooves, there are corresponding dotted lines A and dotted lines B. The dotted line A belongs to one set of confirmed debugging segments, and the dotted line B belongs to another set of confirmed debugging segments. Therefore, based on the numerical lengths of the two debugging segments A and B, a numerical verification can be performed to make relevant adjustments to the center point 1 and complete the initial debugging process associated with the corresponding adapter. Combined with the specific determination process disclosed in the embodiment, the corresponding dotted line A and dotted line B can be confirmed.

[0050] Second embodiment

[0051] In the specific implementation process of this embodiment, it is a secondary debugging process corresponding to the adaptive gear part model body, combined with Figure 2 The dotted line C associated therein is executed by the corresponding assembly positioning confirmation end in this embodiment.

[0052] The assembly positioning confirmation end performs secondary debugging on several adaptive gear part model bodies that have completed the initial debugging process, so that the position features associated with several adaptive gear part model bodies are changed. Based on the change results, the optimal assembly positioning point associated with each adaptive gear part model body is locked and displayed. The specific method of locking is:

[0053] Based on the calibration segments confirmed in the undetermined teeth and the undetermined slots, the intersection segment between the calibration segment and the undetermined slots is recorded as the debugging feature segment (e.g. Figure 2 The length L of the debugging feature segment associated with each different aptamer corresponding to the undetermined tooth is recorded. k , where k represents different aptamers;

[0054] Set the length value L k Verify with the preset standard length. The standard length is the preset length, which is generally 0.05mm. If L k = standard length, there is no need to re-adjust the associated aptamer. If L k ≠standard length, then move the center point of the adapter according to the horizontal plane of the calibration section to the confirmed length value L k When it is consistent with the preset standard length, stop and complete the secondary debugging process;

[0055] After the secondary debugging process is completed, confirm the center point position associated with each adapter, record this center point position as the optimal assembly positioning point associated with the corresponding adapter gear part model and display it, or directly control the relevant installation robot arm to adjust the installation positioning point by adjusting the gasket and the shaft end to ensure that the installed point is aligned with the optimal assembly positioning point, completing the installation and debugging process of the corresponding gear part.

[0056] Some of the data in the above formulas are dimensionless and numerically calculated. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0057] The above embodiments are only used to illustrate the technical method 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 preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. The timing gear assembly positioning system based on machine vision is characterized by: include: The image processing end performs feature verification on the acquired gear assembly image, locks in several contour areas within the image, and confirms the main gear model associated with the gear assembly based on the associated model of the gear assembly. Then, through the verification process of the main gear model, the installation positioning point of the main gear within the gear assembly image is locked; The dynamic model generation end, based on the associated model of the gear assembly, locks the part model body associated with the gear assembly and the main gear part model body, and then generates a virtual dynamic model of this gear assembly based on the specific installation characteristics; The feature debugging and analysis end debugs and verifies the model bodies associated with the constructed virtual dynamic model. Based on the specific debugging features, the position features associated with the model bodies are determined and preliminary debugging is performed to complete the initial debugging process. The specific methods are as follows: From the constructed virtual dynamic model, identify the main gear part model body and the adapter gear part model body, record the main gear part model body as the main body, and record the adapter gear part model body as the adapter; The adapter that is in meshing relationship with the main body is confirmed, and the position feature of the adapter is debugged: the main body mounting hole is connected to the center point of the adapter mounting hole, a set of standard lines are confirmed, and then based on the meshing process of the main body and the adapter, the debugging time is confirmed. The protruding end point of the single meshing tooth of the adapter corresponding to the debugging time coincides with the standard line, the meshing tooth that coincides with the standard line is recorded as the pending tooth, the meshing groove where the pending tooth is located is calibrated as the pending groove, the two end points of the pending groove are interconnected, a set of dividing lines are confirmed, the intersection point generated between the dividing line and the standard line is locked, and then the intersection point between the standard line and the pending groove is confirmed, the part of the line segment between the two intersection points is recorded as the calibration segment, and a set of vertical feature segments belonging to this calibration segment are constructed, and the two end points of the vertical feature segment are connected to the pending groove; The intersection between the vertical feature segment and the to-be-determined tooth is recorded as the built-in segment, and the intersection between the vertical segment and the to-be-determined groove is recorded as the debugging segment. The numerical values ​​of the debugging segments on both sides are identified: if the length of the debugging segment on one side is greater than the length of the debugging segment on the other side, the center point of the adapter is controlled to move horizontally from one side to the other side until the length values ​​of the two debugging segments are the same; This debugging method is used for each aptamer and host to complete the initial debugging process.

2. The timing gear assembly positioning system based on machine vision according to claim 1, characterized in that: Also includes: The image acquisition end acquires an image of the timing gear assembly on which the main gear is installed, and transmits the acquired gear assembly image to the image processing end.

3. The timing gear assembly positioning system based on machine vision according to claim 1, characterized in that: The specific method for the image processing end to lock the installation positioning point is: Based on the acquired gear assembly image, the Sobel algorithm is used to confirm the vertical gradient and vertical gradient associated with different pixel points in the gear assembly image. Based on the confirmed vertical gradient and vertical gradient, the comprehensive gradient associated with the corresponding pixel point is confirmed. , mark the pixels that satisfy: comprehensive gradient > Y1 as gradient pixels, where Y1 is a preset value, connect several adjacent gradient pixels in sequence, confirm the edge contour associated with the corresponding continuous adjacent gradient pixels, and record the area surrounded by this edge contour as the contour area; Based on the associated model of the gear assembly, the main gear model associated with this gear assembly is confirmed, the model contour associated with the main gear model is confirmed, and the confirmed model contour is checked for coincidence with different contour areas. During the coincidence verification process, the model contour is controlled to rotate and scale according to the internal center point. The coincidence is locked during the coincidence verification process. When the coincidence meets 100%, the corresponding contour area is recorded as the main wheel area, and the center position point of the main wheel area is calibrated. This center position point is a position feature associated with the overall edge contour of this gear assembly, which facilitates the subsequent specific construction of the dynamic model.

4. The timing gear assembly positioning system based on machine vision according to claim 1, characterized in that: The specific method of generating the virtual dynamic model at the dynamic model generating end is as follows: Based on the associated model of the gear assembly, the part model body associated with the gear assembly is locked from the part model library, and this part model body is recorded as the base model body; Based on the determined reference model and the determined center position point, the main gear part model body is adapted and moved to the center position point, and then the adaptation mounting hole is confirmed from the reference model body, and the adaptation gear part model body associated with the adaptation mounting hole is confirmed, and the adaptation gear part model body is aligned with the center point of the adaptation mounting hole. The adaptation gear part model body is provided by the part model library, and the model body after the dynamic construction processing is completed is recorded as a virtual dynamic model and transmitted to the feature debugging analysis end for initial debugging.

5. The timing gear assembly positioning system based on machine vision according to claim 4 is characterized in that: If the length of the debugging segment on one side is smaller than the length of the debugging segment on the other side, the center point of the aptamer is controlled to move horizontally from the other side to the one side until the lengths of the two debugging segments are the same; If the length of the debugging section on one side is equal to the length of the debugging section on the other side, no adjustment is required.

6. The timing gear assembly positioning system based on machine vision according to claim 4 is characterized in that: Also includes: At the assembly positioning confirmation end, several adaptive gear part model bodies that have completed the initial debugging process are debugged for the second time, so that the position features associated with several adaptive gear part model bodies are changed. Based on the change results, the optimal assembly positioning point associated with each adaptive gear part model body is locked.

7. The timing gear assembly positioning system based on machine vision according to claim 6, characterized in that: The specific method of locking the optimal assembly positioning point at the assembly positioning confirmation terminal is as follows: Based on the calibration segments confirmed in the undetermined tooth and the undetermined slot, the intersection segment between the calibration segment and the undetermined slot is recorded as the debugging feature segment, and the length value L of the debugging feature segment associated with each different adapter corresponding to the undetermined tooth is recorded. k , where k represents different aptamers; Set the length value L k Verify with the preset standard length, the standard length is the preset length, if L k = standard length, there is no need to re-adjust the associated aptamer. If L k ≠standard length, then move the center point of the adapter according to the horizontal plane of the calibration section to the confirmed length value L k When it is consistent with the preset standard length, stop and complete the secondary debugging process; After the secondary debugging process is completed, the center point position associated with each adapter body is confirmed, and this center point position is recorded as the optimal assembly positioning point associated with the corresponding adapter gear part model body.

Images