CN-121989001-A - Assembling method, assembling device, assembling equipment and storage medium

CN121989001ACN 121989001 ACN121989001 ACN 121989001ACN-121989001-A

Abstract

The invention discloses an assembling method, a device, equipment and a storage medium, which relate to the technical field of machining, wherein the assembling method comprises the steps of starting an assembling action; the method comprises the steps of collecting multi-dimensional assembly parameters in the assembly action process in real time, generating time sequence feature data of the assembly process based on the multi-dimensional assembly parameters, comparing the multi-dimensional assembly parameters with a first preset threshold in real time, generating a first control instruction according to a comparison result until assembly is completed or assembly is stopped, wherein the first control instruction comprises an assembly stopping instruction and an assembly continuing instruction, comparing the parameters of the time sequence feature data with a second preset threshold after assembly is completed, and generating a second control instruction according to a comparison result, wherein the second control instruction comprises a qualification judging instruction and a review judging instruction. By the mode, the problem that an existing assembly method lacks a real-time parameter feedback and dynamic adjustment mechanism can be solved.

Inventors

ZHAO CHENGRUI
MU YADONG

Assignees

歌尔股份有限公司

Dates

Publication Date: 20260508
Application Date: 20251222

Claims (10)

1. A method of assembly, the method comprising: Starting an assembling action; Collecting multidimensional assembly parameters in the assembly action process in real time, and generating time sequence characteristic data of the assembly process based on the multidimensional assembly parameters; Comparing the multidimensional assembly parameters with a first preset threshold in real time, and generating a first control instruction according to a comparison result until the assembly is completed or the assembly is stopped, wherein the first control instruction comprises an assembly stopping instruction and an assembly continuing instruction; and after the assembly is completed, comparing the parameters of the time sequence characteristic data with a second preset threshold value, and generating a second control instruction according to the comparison result, wherein the second control instruction comprises a qualification judging instruction and a reinspection judging instruction.
2. The method of claim 1, wherein the multi-dimensional assembly parameter comprises a pressure real-time value and assembly displacement data, wherein the first preset threshold comprises a pressure threshold and an assembly distance threshold, wherein the pressure threshold comprises a pressure threshold upper limit and a pressure threshold lower limit, wherein the assembly distance threshold comprises an assembly distance threshold upper limit and an assembly distance threshold lower limit, wherein the step of comparing the multi-dimensional assembly parameter with the first preset threshold in real time, and wherein the step of generating the first control command based on the comparison comprises: comparing the pressure real-time value with the pressure threshold upper limit; if the pressure real-time value reaches the upper limit of the pressure threshold value, generating the assembly stop instruction; and if the pressure real-time value does not reach the upper pressure threshold, generating the assembly continuing instruction.
3. The method of claim 2, wherein the step of generating the assembly continuation instruction if the pressure real-time value does not reach the pressure threshold upper limit comprises, after: comparing the assembly displacement data with the upper assembly distance threshold; If the assembly displacement data does not reach the upper limit of the assembly distance threshold, generating the assembly stop instruction; And if the assembly displacement data reach the upper limit of the assembly distance threshold, generating the assembly continuing instruction and repeatedly comparing the assembly displacement data with the upper limit of the assembly distance threshold.
4. The method of claim 3, wherein the step of generating the assembly stop command if the assembly displacement data does not reach the assembly distance threshold upper limit comprises, after: comparing the assembly displacement data with the assembly distance threshold lower limit; if the assembly displacement data reach or exceed the lower limit of the assembly distance threshold, generating the assembly continuing instruction until the assembly is completed; and if the assembly displacement data does not reach the lower limit of the assembly distance threshold, generating the assembly stop instruction, stopping assembly, and judging that the first type of assembly is abnormal.
5. The method of claim 2, wherein the step of generating the assembly stop command if the pressure real-time value reaches the upper pressure threshold limit comprises, after: comparing the assembly displacement data with the assembly distance threshold lower limit; If the assembly displacement data reach the lower limit of the assembly distance threshold, generating the assembly continuing instruction until the assembly is completed; And if the assembly displacement data does not reach the lower limit of the assembly distance threshold, generating the assembly stop instruction, stopping assembly, and judging that the second type of assembly is abnormal.
6. The method according to any one of claims 2 to 5, wherein the time series characteristic data is a pressure characteristic curve formed based on a time series change of the pressure real-time value, the second preset threshold is a pressure curve slope threshold, and the step of comparing the parameter of the time series characteristic data with the second preset threshold when the assembling is completed, and generating the second control command according to the comparison result comprises: Extracting slope change parameters of the pressure characteristic curve after assembly is completed to obtain a slope value; Comparing the slope value with the pressure curve slope threshold; if the slope value reaches or exceeds the slope threshold value of the pressure curve, generating the recheck judgment instruction and judging that the third type of assembly is abnormal; And if the slope value does not reach the slope threshold value of the pressure curve, generating the qualification judging instruction.
7. The method of any one of claims 2 to 5, wherein the step of acquiring in real time the multi-dimensional assembly parameters during the assembly action comprises: Continuously collecting the pressure real-time value in the assembling action process through a pressure sensing component; and synchronously acquiring the assembly displacement data in the assembly action process through the displacement acquisition component.
8. An assembly device, the device comprising: the assembly module is used for completing the assembly action; The data acquisition module is used for acquiring multidimensional assembly parameters in the assembly action process in real time The characteristic generating module is used for generating time sequence characteristic data of the assembling process based on the multidimensional assembling parameters; The first comparison control module is used for comparing the multidimensional assembly parameters with a first preset threshold in real time, and generating a first control instruction according to the comparison result until the assembly is completed or the assembly is stopped, wherein the first control instruction comprises an assembly stopping instruction and an assembly continuing instruction; and the second comparison control module is used for comparing the parameters of the time sequence characteristic data with a second preset threshold value after the assembly is completed, and generating a second control instruction according to the comparison result, wherein the second control instruction comprises a qualification judgment instruction and a recheck judgment instruction.
9. An assembly device comprising a memory, a processor and an assembly program stored on the memory and executable on the processor, the assembly program being configured to implement the steps of the assembly method according to any one of claims 1 to 7.
10. A storage medium having stored thereon an assembly program which, when executed by a processor, implements the steps of the assembly method according to any one of claims 1 to 7.

Description

Assembling method, assembling device, assembling equipment and storage medium Technical Field The present invention relates to the field of machining technologies, and in particular, to an assembling method, apparatus, device, and storage medium. Background In the field of automated assembly production, material splicing and assembling are common processing procedures, and the prior art generally controls assembly equipment to perform splicing operation based on preset assembly distance or fixed action parameters. However, the existing assembly method generally lacks a real-time parameter feedback and dynamic adjustment mechanism in the assembly process, only depends on a preset instruction to complete the assembly action, and cannot flexibly adapt to variables such as material size difference, relative position deviation and the like according to actual assembly working conditions. Therefore, the phenomenon of over-insertion or virtual insertion easily occurs in the assembly process, the over-insertion can cause damage to the product structure, the virtual insertion causes unstable assembly and lamination, and finally the problems of low product assembly yield, waste of production resources and the like are caused. Disclosure of Invention The invention mainly aims to provide an assembly method, an assembly device and a storage medium, and aims to solve the problem that the existing assembly method lacks a real-time parameter feedback and dynamic adjustment mechanism. In order to achieve the above object, the assembling method according to the present invention comprises the steps of: Starting an assembling action; Collecting multidimensional assembly parameters in the assembly action process in real time, and generating time sequence characteristic data of the assembly process based on the multidimensional assembly parameters; Comparing the multidimensional assembly parameters with a first preset threshold in real time, and generating a first control instruction according to a comparison result until the assembly is completed or the assembly is stopped, wherein the first control instruction comprises an assembly stopping instruction and an assembly continuing instruction; and after the assembly is completed, comparing the parameters of the time sequence characteristic data with a second preset threshold value, and generating a second control instruction according to the comparison result, wherein the second control instruction comprises a qualification judging instruction and a reinspection judging instruction. In one embodiment, the multi-dimensional assembly parameter includes a pressure real-time value and assembly displacement data, the first preset threshold includes a pressure threshold and an assembly distance threshold, the pressure threshold includes a pressure threshold upper limit and a pressure threshold lower limit, the assembly distance threshold includes an assembly distance threshold upper limit and an assembly distance threshold lower limit, the step of comparing the multi-dimensional assembly parameter with the first preset threshold in real time, and the step of generating the first control command according to the comparison result includes: comparing the pressure real-time value with the pressure threshold upper limit; if the pressure real-time value reaches the upper limit of the pressure threshold value, generating the assembly stop instruction; and if the pressure real-time value does not reach the upper pressure threshold, generating the assembly continuing instruction. In an embodiment, if the pressure real-time value does not reach the upper pressure threshold, the step of generating the assembly continuation instruction includes: comparing the assembly displacement data with the upper assembly distance threshold; If the assembly displacement data does not reach the upper limit of the assembly distance threshold, generating the assembly stop instruction; And if the assembly displacement data reach the upper limit of the assembly distance threshold, generating the assembly continuing instruction and repeatedly comparing the assembly displacement data with the upper limit of the assembly distance threshold. In an embodiment, the step of generating the assembly stop command includes, if the assembly displacement data does not reach the assembly distance threshold upper limit: comparing the assembly displacement data with the assembly distance threshold lower limit; if the assembly displacement data reach or exceed the lower limit of the assembly distance threshold, generating the assembly continuing instruction until the assembly is completed; and if the assembly displacement data does not reach the lower limit of the assembly distance threshold, generating the assembly stop instruction, stopping assembly, and judging that the first type of assembly is abnormal. In an embodiment, the step of generating the assembly stop command if the pressure real-time value reaches the pressure th