Oil seal quality detection and repair control method and system

Abstract

The invention provides an oil seal quality detection and repair control method and system, and the method comprises the steps: controlling a scanner carried by a robot through an MES system to carry out the height measurement of a designated point position of an oil seal detection surface, drawing a height contour measurement curve representing the quality of an oil seal through measurement data, and then extracting height parameters from the curve, according to the method, the index value of each index representing the quality of the oil seal is calculated, whether the quality of the oil seal is qualified or not is finally judged by calculating the deviation between each index value and the corresponding index value threshold value, machine automatic detection of the quality of the oil seal is achieved, and compared with manual detection, the detection is faster, and the result is more accurate; the MES system can bind an oil seal quality detection result with workpiece information of a workpiece pressed into the oil seal to automatically form a quality detection record; when the MES system judges that the quality of the oil seal of the workpiece at the current station is unqualified, a repair control instruction can be automatically generated and sent to a corresponding robot on an assembly production line, so that the workpiece automatically flows into a repair station, and a repair record is automatically formed.

Description

Technical Field

[0001] This invention relates to the field of workpiece quality inspection technology, specifically to a method and system for oil seal quality inspection and rework control. Background Technology

[0002] Currently, the quality inspection of oil seals pressed into workpieces is usually carried out manually. The inspection process is generally as follows: in the assembly workshop, quality inspectors regularly or irregularly measure the quality of the oil seals at the workstation of the next process after the oil seal is pressed. When the measurement result is unqualified, the workpiece is manually controlled to flow into the rework station.

[0003] The existing methods for oil seal quality inspection and workpiece rework control have the following technical problems:

[0004] 1. The samples obtained by manual sampling are unique and cannot cover every workpiece leaving the factory. Furthermore, the work efficiency is low due to the manual inspection of oil seal quality and the manual control of workpieces flowing into the rework station.

[0005] 2. Generating inspection and rework records requires manual data entry, which is very troublesome and makes it difficult to electronically trace the oil seal quality inspection and rework records for each workpiece. Summary of the Invention

[0006] This invention aims to automate the detection of oil seal quality in workpieces, including engines, and to automate the flow of workpieces with substandard oil seal quality into the rework station. It provides a method and system for oil seal quality detection and rework control.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] A method for testing the quality of oil seals is provided, including the following steps:

[0009] S1, Plot the height profile measurement curve to characterize the quality of the oil seal on the workpiece;

[0010] S2, extract the height parameter from the height profile measurement curve, and then calculate the index values ​​of each index characterizing the oil seal quality;

[0011] S3, determine whether the deviation of each indicator value from the corresponding indicator value threshold is less than the preset corresponding deviation threshold.

[0012] If so, the oil seal quality of the workpiece is deemed qualified;

[0013] If not, the oil seal quality of the workpiece is deemed unqualified;

[0014] S4. Generate the oil seal quality inspection result and bind it with the unique number of the workpiece, then store it as the oil seal quality inspection record of the workpiece.

[0015] Preferably, step S1, the method for drawing the height profile measurement curve, includes the following steps:

[0016] S11, control the robotic arm carrying the scanner to move above the oil seal detection surface of the workpiece;

[0017] S12, after controlling the robotic arm to move to above each designated point on the oil seal detection surface, the scanner is then controlled to measure the height of each designated point to obtain the parameter values ​​of each height parameter;

[0018] S13, Based on the parameter values ​​of each height parameter associated with the specified point, draw the height profile measurement curve corresponding to each specified point.

[0019] Preferably, the designated points include any one or more of the first, second, third, and fourth designated points located at the 3 o'clock, 6 o'clock, 9 o'clock, and 12 o'clock directions of the oil seal detection surface.

[0020] Preferably, the height parameter includes any one or more of the following: machined surface height, oil cover height, and crankshaft end face height;

[0021] Among them, the machined surface is the base surface, and the height of the machined surface is "0";

[0022] The height of the oil seal is the vertical distance between the oil seal surface and the machined surface;

[0023] The crankshaft end face height is the vertical distance between the crankshaft end face and the machined surface.

[0024] Preferably, the indicators characterizing the quality of the oil seal include one or more of the following: the height difference between the machined surface and the oil seal surface, the flatness of the oil seal, and the indentation depth.

[0025] Preferably, the height difference between the machined surface and the oil cover is the maximum value among the sub-height differences associated with each of the specified points, and the sub-height difference is the absolute value of the difference between the height of the machined surface and the height of the oil cover obtained by the scanner measuring the height of the specified point.

[0026] The flatness of the oil seal is the difference between the maximum oil seal height and the minimum oil seal height obtained by the scanner measuring the height of all the specified points.

[0027] The pressing depth of the oil seal is the absolute value of the difference between the average height of the crankshaft end face and the average height of the machined surface. The average height of the crankshaft end face is the average value of the height of each crankshaft end face obtained by the scanner when measuring the height of each of the specified points. The average height of the machined surface is the average value of the height of each machined surface obtained by the scanner when measuring the height of each of the specified points.

[0028] This invention also provides an automatic control method for workpiece rework, specifically: for a workpiece at the current workstation, determining whether its oil seal quality is qualified.

[0029] If so, the workpiece will be automatically controlled to flow into the next assembly station of the current station;

[0030] If not, the workpiece will be automatically controlled to flow into the rework station, and a rework record will be generated and saved after the rework is completed;

[0031] The method for determining whether the oil seal quality of the workpiece is qualified includes the following steps:

[0032] L1, plot the height profile measurement curve to characterize the oil seal quality on the workpiece;

[0033] L2, extract the height parameter from the height profile measurement curve, and then calculate the index values ​​of each index characterizing the oil seal quality;

[0034] L3, determine whether the deviation of each indicator value from the corresponding indicator value threshold is less than a preset corresponding deviation threshold.

[0035] If so, the oil seal quality of the workpiece is deemed qualified;

[0036] If not, the oil seal quality of the workpiece is deemed unqualified.

[0037] Preferably, step L1, the method for drawing the height profile measurement curve, includes the following steps:

[0038] L11, control the robotic arm carrying the scanner to move above the oil seal detection surface of the workpiece;

[0039] L12, after controlling the robotic arm to move above each designated point on the oil seal detection surface, controls the scanner to measure the height of each designated point to obtain the parameter values ​​of each height parameter;

[0040] L13, based on the parameter values ​​of each height parameter associated with the specified point, draw the height profile measurement curve corresponding to each specified point.

[0041] Preferably, the designated points include any one or more of the first, second, third, and fourth designated points located at the 3 o'clock, 6 o'clock, 9 o'clock, and 12 o'clock directions of the oil seal detection surface;

[0042] The height parameters include any one or more of the machined surface height, oil cover height, and crankshaft end face height;

[0043] Among them, the machined surface is the base surface, and the height of the machined surface is "0";

[0044] The height of the oil seal is the vertical distance between the oil seal surface and the machined surface;

[0045] The crankshaft end face height is the vertical distance between the crankshaft end face and the machined surface; the indicators characterizing the oil seal quality include one or more of the following: the height difference between the machined surface and the oil seal surface, the flatness of the oil seal, and the indentation depth.

[0046] The height difference is the maximum value among the sub-height differences associated with each of the specified points, and the sub-height difference is the absolute value of the difference between the height of the machined surface and the height of the oil cover obtained by the scanner measuring the height of the specified point.

[0047] The flatness of the oil seal is the difference between the maximum oil seal height and the minimum oil seal height obtained by the scanner measuring the height of all the specified points.

[0048] The pressing depth of the oil seal is the absolute value of the difference between the average height of the crankshaft end face and the average height of the machined surface. The average height of the crankshaft end face is the average value of the height of each crankshaft end face obtained by the scanner when measuring the height of each of the specified points. The average height of the machined surface is the average value of the height of each machined surface obtained by the scanner when measuring the height of each of the specified points.

[0049] This invention also provides an oil seal quality inspection and rework control system, which can execute the oil seal quality inspection method and the workpiece rework automatic control method. The oil seal quality inspection and rework control system includes:

[0050] The workpiece information acquisition module is used to provide the robot with workpiece information that has arrived at the current workstation, which is sent by the MES system.

[0051] The robot control module is used to provide the robot with control to move the robotic arm to the position required for oil seal quality inspection;

[0052] The oil seal curve measurement module is connected to the robot control module. It is used to control the scanner to measure the height of the specified point when the robotic arm moves to the specified point for oil seal quality inspection. Then, it draws the height profile measurement curve based on the measurement data.

[0053] The oil seal quality index value calculation module is connected to the oil seal curve measurement module. It is used to extract the measured height parameters from the height profile measurement curve and then calculate the index values ​​of each index characterizing the oil seal quality.

[0054] The oil seal quality inspection result generation module, connected to the oil seal quality index value calculation module and the workpiece information acquisition module, is used to determine whether the deviation of each index value from its corresponding index value threshold is less than a preset corresponding deviation threshold.

[0055] If so, the oil seal quality of the workpiece is determined to be qualified, and the workpiece information is bound to generate an oil seal quality test result;

[0056] If not, the oil seal quality of the workpiece is determined to be unqualified, and the oil seal quality test result is generated after binding the workpiece information;

[0057] The automatic rework control module is connected to the oil seal quality inspection result generation module. It is used to automatically control the workpiece that is determined to be of qualified oil seal quality to flow into the next assembly station of the current station, or to automatically control the workpiece that is determined to be of unqualified oil seal quality to flow into the rework station.

[0058] The present invention has the following beneficial effects:

[0059] 1. Through information interaction between the MES system, robot, and scanner, the MES system controls the scanner carried by the robot to measure the height of designated points on the oil seal inspection surface. It then uses the measurement data to plot a height profile measurement curve that characterizes the quality of the oil seal. The system extracts the height parameters from the curve and calculates the index values ​​of various indicators that characterize the quality of the oil seal. Finally, it determines whether the quality of the oil seal is qualified by calculating the deviation of each index value from the corresponding index value threshold. This achieves automatic machine inspection of oil seal quality, which is faster and more accurate than manual inspection.

[0060] 2. The MES system can bind the oil seal quality inspection results with the workpiece information of the workpiece into which the oil seal is pressed, forming a quality inspection record. It realizes the electronic automatic recording of the oil seal quality inspection results of each workpiece. The recording process does not require human intervention, and realizes electronic traceability of the oil seal quality of each workpiece.

[0061] 3. When the MES system determines that the oil seal quality of the workpiece at the current workstation is unqualified, it can automatically generate a rework control instruction and send it to the corresponding robot on the assembly line so that the workpiece can be automatically transferred to the rework station and a rework record can be automatically generated. This realizes automatic control of the rework of defective workpieces and realizes electronic traceability of the rework record of each workpiece. Attached Figure Description

[0062] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0063] Figure 1 This is a diagram illustrating the implementation steps of the oil seal quality inspection method provided in this embodiment of the invention;

[0064] Figure 2 These are example diagrams of height profile measurement curves corresponding to different specified points;

[0065] Figure 3 This is a structural example diagram of the engine's rear oil seal;

[0066] Figure 4 This is a schematic diagram showing the relative positions of the machined surface, the oil seal, and the crankshaft end face;

[0067] Figure 5 This is a physical example image of a metal oil seal. Detailed Implementation

[0068] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0069] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0070] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0071] In the description of this invention, unless otherwise explicitly specified and limited, the term "connection" or similar designation indicating a connection between components should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0072] An embodiment of the present invention provides a method for detecting the quality of oil seals, such as... Figure 1 As shown, the steps include:

[0073] S1. Plot the height profile measurement curve to characterize the quality of the oil seal on the workpiece. The plotting method specifically includes the following steps:

[0074] S11, control the robotic arm carrying the scanner to move above the oil seal inspection surface of the workpiece;

[0075] S12, after controlling the robotic arm to move to above each designated point on the oil seal inspection surface, then controlling the scanner (preferably a Keyence 2D / 3D line laser measuring instrument) to measure the height of each designated point to obtain the parameter values ​​of each height parameter;

[0076] The designated points include four points located at the 3 o'clock, 6 o'clock, 9 o'clock and 12 o'clock positions on the oil seal inspection surface.

[0077] S13, Based on the parameter values ​​of each height parameter associated with the specified point, draw the height profile measurement curve corresponding to each specified point.

[0078] Height parameters include the height of the machined surface, the height of the oil cover, and the height of the crankshaft end face;

[0079] Among them, the machined surface is the base surface, and the height of the machined surface is "0";

[0080] The height of the oil seal is the vertical distance between the oil seal surface and the machined surface;

[0081] The crankshaft end face height is the vertical distance between the crankshaft end face and the machined surface. Please refer to [reference needed] for the relative positions of the machined surface, oil cover, and crankshaft end face. Figure 3 and Figure 4 , Figure 3 In the diagram, detection position ③ represents the measurement point for the crankshaft end face height (measuring the distance between the crankshaft end face and the metal housing (flywheel housing / machined surface)). Detection position ② is used to measure the distance between the oil seal and the crankshaft end face. Detection position ① represents the distance between the crankshaft end face and the frame (if it is a metal oil seal, then the frame is...). Figure 5 The distance of the outermost metal ring shown.

[0082] The height profile measurement curve drawn for each specified point is as follows: Figure 2 As shown. Figure 2 The four height profile measurement curves (top, bottom, left, and right) in the image represent the height profile measurements of specified points on the oil seal inspection surface at the 12 o'clock, 6 o'clock, 9 o'clock, and 3 o'clock directions, respectively, before measurement. Figure 2 The curve area pointed to by the number "1" represents the height of the machined surface measured at the corresponding specified point; the curve area pointed to by the number "2" represents the height of the oil seal cover measured at the corresponding specified point; the curve area pointed to by the number "3" represents the height of the metal casing measured at the corresponding specified point (for an example diagram of a metal oil seal, please refer to [reference needed]). Figure 5 The curve area pointed to by the number "4" represents the crankshaft end face height measured at the corresponding specified point.

[0083] After completing the plotting of the height profile measurement curve for each specified point on the oil seal inspection surface, the oil seal quality inspection method provided in this embodiment proceeds to the following steps:

[0084] S2, extract the height parameter from the height profile measurement curve, and then calculate the index values ​​of each index characterizing the oil seal quality;

[0085] The indicators characterizing the quality of an oil seal include one or more of the following: the height difference between the machined surface and the oil seal surface, the flatness of the oil seal, and the depth of insertion.

[0086] The height difference between the machined surface and the oil cover is the maximum value among the sub-height differences associated with each specified point. The sub-height difference is the absolute value of the difference between the height of the machined surface and the height of the oil cover obtained by the scanner measuring the height of the specified point.

[0087] The flatness of the oil seal is the difference between the maximum and minimum oil seal heights obtained by the scanner measuring the height of all specified points.

[0088] The press-in depth of the oil seal is the absolute value of the difference between the average height of the crankshaft end face and the average height of the machined surface. The average height of the crankshaft end face is the average of each crankshaft end face height obtained when the scanner measures the height at each specified point. The average height of the machined surface is the average of each machined surface height obtained when the scanner measures the height at each specified point.

[0089] After calculating the index values of each index characterizing the quality of the oil seal, as Figure 1 shown, the oil seal quality detection method provided in this embodiment proceeds to the steps:

[0090] S3, determine whether the deviation between each index value and the corresponding index value threshold is less than the preset corresponding deviation threshold.

[0091] If so, it is determined that the oil seal quality of the workpiece is qualified.

[0092] If not, it is determined that the oil seal quality of the workpiece is unqualified.

[0093] The deviation between the index value and the corresponding index value threshold is the absolute value of the difference between the two.

[0094] S4, generate the oil seal quality detection result, bind it with the unique number of the workpiece, and store it as the oil seal quality detection record of the workpiece.

[0095] The embodiment of the present invention also provides a method for automatic control of workpiece repair, specifically:

[0096] For the workpiece at the current station, determine whether its oil seal quality is qualified.

[0097] If so, automatically control the workpiece to flow into the next assembly station of the current station.

[0098] If not, automatically control the workpiece to flow into the repair station, and generate and save a repair record after the repair is completed.

[0099] Here, it should be noted that for the workpiece at the current station, the MES (Manufacturing Execution System) system determines whether the oil seal quality detection of the workpiece is qualified by analyzing the oil seal quality detection result. The method for automatically controlling the workpiece to flow into the next assembly station or the repair station is as follows: when it is determined that the oil seal quality is qualified, the MED system generates an instruction to flow into the next assembly station and sends it to the corresponding robot, and the robot executes the station transfer action for the workpiece to transfer it to the next assembly station of the current station. The principle of automatically controlling the workpiece to flow into the repair station is the same as that of flowing into the next assembly station, and will not be elaborated here.

[0100] The embodiment of the present invention also provides an oil seal quality detection and repair control system, which specifically includes:

[0101] The robot control module is used to control the movement of the robotic arm to the position required for oil seal quality inspection.

[0102] The oil seal curve measurement module is connected to the robot control module. It is used to control the scanner to measure the height of the specified point when the robotic arm moves to the specified point for oil seal quality inspection. Then, the height profile measurement curve is drawn based on the measurement data.

[0103] The oil seal quality index calculation module is connected to the oil seal curve measurement module. It is used to extract the measured height parameters from the height profile measurement curve and then calculate the index values ​​of various indicators that characterize the oil seal quality.

[0104] The oil seal quality inspection result generation module connects to the oil seal quality index value calculation module and the workpiece information acquisition module. It is used to determine whether the deviation of each index value from the corresponding index value threshold is less than the preset corresponding deviation threshold.

[0105] If so, the oil seal quality of the workpiece is determined to be qualified, and the workpiece information is bound before generating the oil seal quality inspection result;

[0106] If not, the oil seal quality of the workpiece is determined to be unqualified, and the oil seal quality test result is generated after binding the workpiece information;

[0107] The automatic rework control module is connected to the oil seal quality inspection result generation module. It is used to automatically control the flow of workpieces that are determined to be of qualified oil seal quality to the next assembly station of the current station, or to automatically control the flow of workpieces that are determined to be of unqualified oil seal quality to the rework station.

[0108] In summary, by controlling a robot equipped with a scanner through the MES system to measure the height of designated points on the oil seal inspection surface, and drawing a height profile measurement curve representing the oil seal quality using the measurement data, the system extracts height parameters from the curve, calculates the index values ​​of various indicators representing the oil seal quality, and finally determines whether the oil seal quality is qualified by calculating the deviation of each index value from the corresponding index value threshold. This achieves automated machine inspection of oil seal quality, which is faster and more accurate than manual inspection. The MES system can bind the oil seal quality inspection results with the workpiece information of the pressed-in oil seal, automatically forming a quality inspection record. When the MES system determines that the oil seal quality of the workpiece at the current workstation is unqualified, it can automatically generate a rework control command and send it to the corresponding robot on the assembly line to automatically send the workpiece to the rework station and automatically form a rework record, realizing electronic traceability of oil seal quality inspection records and workpiece rework records.

[0109] It should be stated that the above-described specific embodiments are merely preferred embodiments of the present invention and the technical principles employed. Those skilled in the art should understand that various modifications, equivalent substitutions, and variations can be made to the present invention. However, such variations, as long as they do not depart from the spirit of the present invention, should be within the scope of protection of the present invention. Furthermore, some terminology used in this specification and claims is not limiting, but merely for ease of description.

Claims

1. A method for detecting the quality of oil seals, characterized in that, Including the following steps: S1, Plot the height profile measurement curve to characterize the quality of the oil seal on the workpiece; S2, extract the height parameter from the height profile measurement curve, and then calculate the index values ​​of each index characterizing the oil seal quality; S3, determine whether the deviation of each indicator value from the corresponding indicator value threshold is less than the preset corresponding deviation threshold. If so, the oil seal quality of the workpiece is deemed qualified; If not, the oil seal quality of the workpiece is deemed unqualified; S4. Generate the oil seal quality inspection result and bind it with the unique number of the workpiece, then store it as the oil seal quality inspection record of the workpiece.

2. The oil seal quality inspection method according to claim 1, characterized in that, Step S1, the method for drawing the height profile measurement curve includes the following steps: S11, control the robotic arm carrying the scanner to move above the oil seal detection surface of the workpiece; S12, after controlling the robotic arm to move to above each designated point on the oil seal detection surface, the scanner is then controlled to measure the height of each designated point to obtain the parameter values ​​of each height parameter; S13, Based on the parameter values ​​of each height parameter associated with the specified point, draw the height profile measurement curve corresponding to each specified point.

3. The oil seal quality inspection method according to claim 2, characterized in that, The designated points include any one or more of the first, second, third, and fourth designated points located at the 3 o'clock, 6 o'clock, 9 o'clock, and 12 o'clock directions on the oil seal detection surface.

4. The oil seal quality inspection method according to claim 1 or 2, characterized in that, The height parameters include any one or more of the machined surface height, oil cover height, and crankshaft end face height; Among them, the machined surface is the base surface, and the height of the machined surface is "0"; The height of the oil seal is the vertical distance between the oil seal surface and the machined surface; The crankshaft end face height is the vertical distance between the crankshaft end face and the machined surface.

5. The oil seal quality inspection method according to claim 3, characterized in that, The indicators characterizing the quality of the oil seal include one or more of the following: the height difference between the machined surface and the oil seal surface, the flatness of the oil seal, and the indentation depth.

6. The oil seal quality inspection method according to claim 5, characterized in that, The height difference between the machined surface and the oil cover is the maximum value among the sub-height differences associated with each designated point, and the sub-height difference is the absolute value of the difference between the height of the machined surface and the height of the oil cover obtained by the scanner measuring the height of the designated point. The flatness of the oil seal is the difference between the maximum oil seal height and the minimum oil seal height obtained by the scanner measuring the height of all the specified points. The pressing depth of the oil seal is the absolute value of the difference between the average height of the crankshaft end face and the average height of the machined surface. The average height of the crankshaft end face is the average value of the height of each crankshaft end face obtained by the scanner when measuring the height of each of the specified points. The average height of the machined surface is the average value of the height of each machined surface obtained by the scanner when measuring the height of each of the specified points.

7. An automatic control method for workpiece rework, characterized in that, For the workpiece at the current workstation, determine whether its oil seal quality is up to standard. If so, the workpiece will be automatically controlled to flow into the next assembly station of the current station; If not, the workpiece will be automatically controlled to flow into the rework station, and a rework record will be generated and saved after the rework is completed; The method for determining whether the oil seal quality of the workpiece is qualified includes the following steps: L1, plot the height profile measurement curve to characterize the oil seal quality on the workpiece; L2, extract the height parameter from the height profile measurement curve, and then calculate the index values ​​of each index characterizing the oil seal quality; L3, determine whether the deviation of each indicator value from the corresponding indicator value threshold is less than a preset corresponding deviation threshold. If so, the oil seal quality of the workpiece is deemed qualified; If not, the oil seal quality of the workpiece is deemed unqualified.

8. The automatic control method for workpiece rework according to claim 7, characterized in that, In step L1, the method for drawing the height profile measurement curve includes the following steps: L11, control the robotic arm carrying the scanner to move above the oil seal detection surface of the workpiece; L12, after controlling the robotic arm to move above each designated point on the oil seal detection surface, controls the scanner to measure the height of each designated point to obtain the parameter values ​​of each height parameter; L13, based on the parameter values ​​of each height parameter associated with the specified point, draw the height profile measurement curve corresponding to each specified point.

9. The automatic control method for workpiece rework according to claim 8, characterized in that, The designated points include any one or more of the first, second, third, and fourth designated points located at the 3 o'clock, 6 o'clock, 9 o'clock, and 12 o'clock positions on the oil seal detection surface. The height parameters include any one or more of the machined surface height, oil cover height, and crankshaft end face height; Among them, the machined surface is the base surface, and the height of the machined surface is "0"; The height of the oil seal is the vertical distance between the oil seal surface and the machined surface; The crankshaft end face height is the vertical distance between the crankshaft end face and the machined surface; The indicators characterizing the quality of the oil seal include one or more of the following: the height difference between the machined surface and the oil seal surface, the flatness of the oil seal, and the indentation depth. The height difference is the maximum value among the sub-height differences associated with each of the specified points, and the sub-height difference is the absolute value of the difference between the height of the machined surface and the height of the oil cover obtained by the scanner measuring the height of the specified point. The flatness of the oil seal is the difference between the maximum oil seal height and the minimum oil seal height obtained by the scanner measuring the height of all the specified points. The pressing depth of the oil seal is the absolute value of the difference between the average height of the crankshaft end face and the average height of the machined surface. The average height of the crankshaft end face is the average value of the height of each crankshaft end face obtained by the scanner when measuring the height of each of the specified points. The average height of the machined surface is the average value of the height of each machined surface obtained by the scanner when measuring the height of each of the specified points.

10. An oil seal quality inspection and rework control system, capable of executing the oil seal quality inspection method as described in any one of claims 1-6, and capable of executing the workpiece rework automatic control method as described in any one of claims 7-9, characterized in that, include: The workpiece information acquisition module is used to provide the robot with workpiece information that has arrived at the current workstation, which is sent by the MES system. The robot control module is used to provide the robot with control to move the robotic arm to the position required for oil seal quality inspection; The oil seal curve measurement module is connected to the robot control module. It is used to control the scanner to measure the height of the specified point when the robotic arm moves to the specified point for oil seal quality inspection. Then, it draws the height profile measurement curve based on the measurement data. The oil seal quality index value calculation module is connected to the oil seal curve measurement module. It is used to extract the measured height parameters from the height profile measurement curve and then calculate the index values ​​of each index characterizing the oil seal quality. The oil seal quality inspection result generation module is connected to the oil seal quality index value calculation module and the workpiece information acquisition module. It is used to determine whether the deviation of each index value from the corresponding index value threshold is less than the preset corresponding deviation threshold. If so, the oil seal quality of the workpiece is determined to be qualified and the oil seal quality inspection result is generated after binding the workpiece information. If not, the oil seal quality of the workpiece is determined to be unqualified, and the oil seal quality test result is generated after binding the workpiece information; The automatic rework control module is connected to the oil seal quality inspection result generation module. It is used to automatically control the workpiece that is determined to be of qualified oil seal quality to flow into the next assembly station of the current station, or to automatically control the workpiece that is determined to be of unqualified oil seal quality to flow into the rework station.

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