CN-121979078-A - Electrical component assembly guiding method and system

CN121979078ACN 121979078 ACN121979078 ACN 121979078ACN-121979078-A

Abstract

The invention relates to the technical field of electric component assembly, and particularly discloses an electric component assembly guiding method and system. According to the invention, digital design model data of an electrical component and real-time environment sensing data of an assembly site are obtained, an initial assembly sequence and an assembly path are generated, the real-time environment and the assembly path are compared, the interference ratio and the unreachable path ratio are calculated, the assembly environment adaptation factor is obtained by weighting, the assembly guide path is corrected according to the assembly environment adaptation factor, then the quality risk coefficient is obtained by quantifying appearance, mechanics and pose deviation and weighting through assembly image, force/moment and position/posture data, finally a cooperative control signal is generated by combining the correction path and the quality risk coefficient, and the mechanical arm and other execution units are driven to act, and the whole-flow assembly is completed through real-time feedback fine adjustment and step circulation, so that the problems of poor adaptability, incomplete quality control and insufficient operation accuracy of the assembly environment of the complex electrical component are solved.

Inventors

HUANG JING
ZHANG HANBO
YU YUHAN

Assignees

浙江理工大学

Dates

Publication Date: 20260505
Application Date: 20260408

Claims (10)

1. An electrical component assembly guiding method, comprising: acquiring digital design model data of an electrical component to be assembled and real-time environment perception data of an assembly site; Acquiring a hierarchical assembly relation of the electrical component according to the digital design model data, wherein the hierarchical assembly relation comprises an initial assembly sequence and an assembly path; Acquiring an assembly environment adaptation factor according to the real-time environment perception data and the assembly path; correcting the assembly path according to the assembly environment adaptation factor and the initial assembly sequence to obtain a corrected assembly guide path; acquiring real-time process quality monitoring data in an assembly process, and acquiring a quality risk coefficient according to the real-time process quality monitoring data and a preset standard process parameter threshold; generating a cooperative control signal according to the quality risk coefficient and the corrected assembly guiding path, and controlling the electric assembly to carry out assembly guiding according to the cooperative control signal until the assembly is finished.
2. The electrical component assembly guidance method of claim 1, wherein the step of obtaining a hierarchical assembly relationship of an electrical component from the digitized design model data, wherein the hierarchical assembly relationship comprises an initial assembly sequence and an assembly path, comprises: carrying out topological structure analysis on the digital design model data to obtain assembly relations of a plurality of sub-components, and constructing an assembly relation topological graph according to the assembly relations; Acquiring an initial assembly sequence according to the assembly relation topological graph and a preset assembly constraint; acquiring three-dimensional geometric information and target assembly pose coordinates of each sub-component according to the initial assembly sequence, and acquiring preliminary space tracks of a plurality of sub-components according to a plurality of pieces of three-dimensional geometric information and a plurality of pieces of target assembly pose coordinates; obtaining a plurality of smoothing coefficients between adjacent ones according to a plurality of the preliminary space tracks; and splicing and smoothing the plurality of preliminary space tracks according to the plurality of smoothing coefficients to obtain an assembly path.
3. The electrical component assembly guidance method of claim 1, wherein the step of obtaining an assembly environment adaptation factor from the real-time environment awareness data and the assembly path comprises: Acquiring installation moving tracks of a plurality of sub-components to be assembled according to the real-time environment sensing data, acquiring a superposition position area according to the installation moving tracks and the assembly path, acquiring an interference duty ratio according to the superposition position area and a preset total installation area, and taking the interference duty ratio as an interference severity value; Acquiring passable area information in the current environment according to the assembly path, and acquiring an unreachable path point set according to the passable area information and a preset assembly space area; Acquiring total points of the assembly paths according to the preset assembly space region, and acquiring the ratio of the unreachable paths according to the unreachable path point set and the total points of the assembly paths; And carrying out weighted fusion calculation according to the interference severity value and the unreachable path duty ratio to obtain an assembly environment adaptation factor.
4. The electrical component assembly guidance method of claim 1, wherein the step of modifying the assembly path based on the assembly environment adaptation factor and the initial assembly sequence to obtain a modified assembly guidance path comprises: Obtaining a preset adaptable grade dividing rule, wherein the dividing rule comprises a plurality of grade intervals and an adaptation factor threshold range corresponding to each interval, and comparing the adaptation factor according to the assembly environment with the plurality of adaptation factor threshold ranges to obtain an adaptable grade of the current assembly environment; Acquiring an assembly phase set to be adjusted according to the adaptable grade and the initial assembly sequence; for each assembly stage in the assembly stage set, acquiring an alternative assembly pose set of the corresponding sub-component; carrying out path re-planning according to the alternative assembly pose set and the assembly path to obtain a plurality of alternative paths; Obtaining path adaptation references of a plurality of alternative paths, wherein the path adaptation references comprise path quality adaptation coefficients and assembly constraint completion coefficients, and a plurality of comprehensive path adaptation coefficients are obtained according to the plurality of path quality adaptation coefficients and the plurality of assembly constraint completion coefficients; Sequentially correcting each comprehensive path adaptation coefficient according to the assembly environment adaptation factors to obtain a plurality of corrected comprehensive path adaptation coefficients; and sequencing the plurality of correction comprehensive path adaptation coefficients, and selecting an alternative correction path with the highest correction comprehensive path adaptation coefficient as a correction assembly guide path.
5. The electrical component assembly guidance method of claim 1, wherein the step of obtaining real-time process quality monitoring data during assembly and obtaining a quality risk factor based on the real-time process quality monitoring data and a preset standard process parameter threshold comprises: acquiring multi-mode process quality monitoring data acquired in real time in an assembly process, wherein the multi-mode process quality monitoring data comprise assembly image data, assembly force/moment data and assembly position/gesture data; Extracting visual appearance characteristics of an assembly area according to the assembly image data, and acquiring appearance quality deviation values according to the visual appearance characteristics and a preset standard appearance characteristic threshold; Extracting force/moment time sequence change characteristics in the assembly process according to the assembly force/moment data, and acquiring a mechanical process deviation value according to the force/moment time sequence change characteristics and a preset standard force/moment curve threshold; Extracting pose deviation features between actual assembly pose and target assembly pose according to the assembly position/pose data, and acquiring pose deviation values according to the pose deviation features and a preset standard pose tolerance threshold; And carrying out weighted fusion calculation according to the appearance quality deviation value, the mechanical process deviation value and the pose deviation value to obtain a quality risk coefficient.
6. The electrical component assembly guidance method according to claim 1, wherein the step of generating a cooperative control signal according to the quality risk factor and the corrected assembly guidance path, and controlling the electrical component to perform assembly guidance according to the cooperative control signal until assembly is completed, comprises: Generating a basic control instruction sequence containing path points, time stamps and state vectors according to the corrected assembly guide path; Adjusting the basic control instruction sequence according to the quality risk coefficient to obtain an adjustment control instruction sequence; The adjustment control instruction sequence is encoded and time-sequence-synchronized to obtain a cooperative control signal, and the cooperative control signal is sent to a preset assembly execution unit, wherein the preset assembly execution unit comprises a multi-degree-of-freedom mechanical arm and a precise positioning platform; According to the path point sequence in the cooperative control signal, calculating and issuing expected angles and speed instructions of all joints of the mechanical arm in real time, and driving an end effector of the mechanical arm to move to a designated assembly pose along the corrected assembly guide path; In the process of executing the assembly action, feedback data of a force sensor, a position sensor and a visual sensor on the assembly execution unit are read in real time, and closed loop comparison is carried out on the feedback data and the process parameter instructions embedded in the cooperative control signals, so that a real-time execution deviation vector is generated; According to the real-time execution deviation vector, the motion track or acting force of the tail end of the mechanical arm is finely adjusted in real time based on a preset impedance control model; when the actual assembly contact force of the current assembly step reaches a preset target range, the assembly pose error is converged to be within an allowable tolerance and the visual detection confirms that the component is in place, judging that the current step is finished, and sending a step finishing signal to the control system; After receiving the step completion signal, the system automatically loads the cooperative control signal corresponding to the next assembly step according to the initial assembly sequence, and repeats the executing, monitoring and fine tuning processes; and circularly executing the steps until all the steps in the initial assembly sequence are executed, outputting an assembly completion signal and ending the assembly guiding flow of the whole electric assembly.
7. An electrical component assembly guidance system, comprising: The data acquisition module is used for acquiring digital design model data of the electric component to be assembled and real-time environment perception data of an assembly site; The assembly relation analysis module is used for acquiring a hierarchical assembly relation of the electric component according to the digital design model data, wherein the hierarchical assembly relation comprises an initial assembly sequence and an assembly path; The environment adaptation evaluation module is used for acquiring an assembly environment adaptation factor according to the real-time environment perception data and the assembly path; The path dynamic correction module is used for correcting the assembly path according to the assembly environment adaptation factor, the initial assembly sequence and the real-time environment perception data to obtain a corrected assembly guide path; The process quality monitoring and analyzing module is used for acquiring real-time process quality monitoring data in the assembly process and acquiring a quality risk coefficient according to the real-time process quality monitoring data and a preset standard process parameter threshold value; And the cooperative control and execution module is used for generating a cooperative control signal according to the quality risk coefficient and the corrected assembly guiding path, and controlling the electric component to carry out assembly guiding according to the cooperative control signal until the assembly is finished.
8. The electrical component assembly guidance system of claim 7, wherein the assembly relationship resolution module comprises: The structure analysis unit is used for carrying out topological structure analysis on the digital design model data to obtain assembly relations of a plurality of sub-components, and constructing an assembly relation topological graph according to the assembly relations; the sequence planning unit is used for acquiring an initial assembly sequence according to the assembly relation topological graph and a preset assembly constraint; The track generation unit is used for acquiring three-dimensional geometric information and target assembly positions of each sub-component according to the initial assembly sequence, and acquiring preliminary space tracks of the plurality of sub-components according to the three-dimensional geometric information and the target assembly positions; the smoothness evaluation unit is used for acquiring a plurality of smoothness coefficients between adjacent space tracks according to a plurality of the preliminary space tracks; And the path synthesis unit is used for carrying out splicing and smoothing processing on the plurality of preliminary space tracks according to the plurality of smoothing coefficients to obtain an assembly path.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

Description

Electrical component assembly guiding method and system Technical Field The invention relates to the technical field of electric component assembly, in particular to an electric component assembly guiding method and system. Background The electric component is used as a core functional module of high-end equipment, a new energy system and electric equipment, the assembly quality of the electric component directly determines the running performance, reliability and use safety of a terminal product, and the electric component has irreplaceable functions in key fields such as industrial production, energy supply, intelligent manufacturing and the like. With the iteration upgrade of the technology, the structure of the electrical assembly is more and more complex, the number of sub-components is greatly increased, the assembly constraint relationship (such as geometric constraint, process constraint and time sequence constraint) is more and more varied, and the requirements on the assembly precision, the process stability and the efficiency are also continuously improved. The existing electric assembly mode mainly uses manual operation, and the core depends on the skill proficiency and experience judgment of operators. When facing the assembly task of multiple sub-components and complex constraint, the manual assembly is easy to have the problems of wrong assembly, missing assembly or assembly sequence deviation, and the like, especially when the product model is frequently changed, the retraining period of an operator is long, the adaptation cost is high, the production requirement is difficult to respond quickly, meanwhile, the control consistency of manual operation on key process parameters (such as bolt tightening torque, connector plugging force, component alignment precision and the like) is poor, the quality dispersion is large, and the severe process standard of a high-reliability product cannot be met. Disclosure of Invention The invention aims to provide an electric component assembly guiding method, which comprises the following steps: an electrical component assembly guidance method, comprising: acquiring digital design model data of an electrical component to be assembled and real-time environment perception data of an assembly site; Acquiring a hierarchical assembly relation of the electrical component according to the digital design model data, wherein the hierarchical assembly relation comprises an initial assembly sequence and an assembly path; Acquiring an assembly environment adaptation factor according to the real-time environment perception data and the assembly path; correcting the assembly path according to the assembly environment adaptation factor and the initial assembly sequence to obtain a corrected assembly guide path; acquiring real-time process quality monitoring data in an assembly process, and acquiring a quality risk coefficient according to the real-time process quality monitoring data and a preset standard process parameter threshold; generating a cooperative control signal according to the quality risk coefficient and the corrected assembly guiding path, and controlling the electric assembly to carry out assembly guiding according to the cooperative control signal until the assembly is finished. Preferably, the step of obtaining a hierarchical assembly relation of the electrical component according to the digital design model data, wherein the hierarchical assembly relation comprises an initial assembly sequence and an assembly path comprises the following steps: carrying out topological structure analysis on the digital design model data to obtain assembly relations of a plurality of sub-components, and constructing an assembly relation topological graph according to the assembly relations; Acquiring an initial assembly sequence according to the assembly relation topological graph and a preset assembly constraint; acquiring three-dimensional geometric information and target assembly pose coordinates of each sub-component according to the initial assembly sequence, and acquiring preliminary space tracks of a plurality of sub-components according to a plurality of pieces of three-dimensional geometric information and a plurality of pieces of target assembly pose coordinates; obtaining a plurality of smoothing coefficients between adjacent ones according to a plurality of the preliminary space tracks; and splicing and smoothing the plurality of preliminary space tracks according to the plurality of smoothing coefficients to obtain an assembly path. Preferably, the step of obtaining the fitting environment adaptation factor according to the real-time environment sensing data and the fitting path includes: Acquiring installation moving tracks of a plurality of sub-components to be assembled according to the real-time environment sensing data, acquiring a superposition position area according to the installation moving tracks and the assembly path, acquiring an interference duty