Generator accessory assembling machine tool control method and system

Abstract

The invention discloses a generator accessory assembly machine tool control method and system, and relates to the technical field of assembly control, and the method comprises the steps: obtaining the design data of a target generator, and constructing a plurality of digital accessory models; interacting the accessory assembly machine tool, and obtaining an assembly reachable domain of the accessory assembly machine tool; performing reverse engineering according to the finished product model of the target generator, and constructing an assembly relation graph of the target generator; randomly generating an assembly scheme set by taking the assembly relation graph as an assembly constraint; based on the multiple digital accessory models and the assembly reachable domain, a twin assembly space is constructed, and simulation assembly is conducted on the assembly scheme set; defining an assembly evaluation function, evaluating the simulation assembly result based on the assembly evaluation function, and extracting an optimal assembly scheme from the assembly scheme set; and the optimal assembling scheme is input into a control system of an accessory assembling machine tool, and assembling operation is carried out. Therefore, the technical effect of improving the assembly consistency and the assembly efficiency is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of assembly control, and in particular to a generator parts assembly machine tool control method and system. Background Art

[0002] In the generator manufacturing process, the assembly of accessories is a complex and critical link. The assembly accuracy directly affects the performance and life of the generator, and the efficiency of the assembly process affects the production speed. The existing assembly methods mainly rely on manual operation and simple automated equipment, which is difficult to achieve high-precision assembly requirements. There are technical problems such as low assembly efficiency and unstable assembly effect. Summary of the invention

[0003] The present invention provides a generator parts assembly machine tool control method and system to solve the technical problems of low assembly efficiency and unstable assembly effect in the prior art, and achieve the technical effect of improving assembly consistency and assembly efficiency.

[0004] In a first aspect, the present invention provides a generator parts assembly machine tool control method, wherein the method comprises:

[0005] The design data of the target generator is obtained, and a plurality of digital accessory models are constructed; an accessory assembly machine tool is interacted with to obtain the assembly reachable domain of the accessory assembly machine tool; reverse engineering is performed based on the finished product model of the target generator to construct an assembly relationship map of the target generator; a set of assembly schemes is randomly generated using the assembly relationship map as an assembly constraint; a twin assembly space is constructed based on the plurality of digital accessory models and the assembly reachable domain, and the assembly of the assembly scheme set is simulated; an assembly evaluation function is defined, and based on the assembly evaluation function, the simulated assembly result is evaluated and the optimal assembly scheme is extracted from the assembly scheme set; the optimal assembly scheme is input into the control system of the accessory assembly machine tool to perform assembly operations.

[0006] In a second aspect, the present invention further provides a generator parts assembly machine tool control system, wherein the system comprises:

[0007] The model building module is used to obtain the design data of the target generator and build multiple digital component models.

[0008] A reachable domain identification module is used to interact with the accessory assembly machine tool to obtain the assembly reachable domain of the accessory assembly machine tool.

[0009] A relationship map construction module is used to perform reverse engineering based on a finished product model of a target generator to construct an assembly relationship map of the target generator.

[0010] A scheme building module is used to randomly generate an assembly scheme set using the assembly relationship graph as an assembly constraint.

[0011] A simulation assembly module is used to construct a twin assembly space based on multiple digital accessory models and the assembly reachable domain, and simulate the assembly of the assembly solution set.

[0012] The assembly evaluation selection module is used to define an assembly evaluation function, and based on the assembly evaluation function, evaluate the simulated assembly results and extract the optimal assembly solution from the assembly solution set.

[0013] A control application module is used to input the optimal assembly solution into the control system of the accessory assembly machine tool to perform assembly operations.

[0014] The present invention discloses a control method and system for a generator parts assembly machine tool, including: obtaining target generator design data and constructing multiple digital parts models; interacting with the parts assembly machine tool to obtain the assembly reachable domain of the parts assembly machine tool; performing reverse engineering based on the finished product model of the target generator to construct an assembly relationship map of the target generator; using the assembly relationship map as an assembly constraint to randomly generate an assembly solution set; constructing a twin assembly space based on multiple digital parts models and assembly reachable domains to simulate assembly of the assembly solution set; defining an assembly evaluation function, evaluating the simulated assembly results based on the assembly evaluation function, and extracting the optimal assembly solution from the assembly solution set; inputting the optimal assembly solution into the control system of the parts assembly machine tool to perform assembly operations. The control method and system for a generator parts assembly machine tool disclosed by the present invention solve the technical problems of low assembly efficiency and unstable assembly effect, and improve the technical effects of assembly consistency and assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is a flow chart of the generator parts assembly machine tool control method of the present invention.

[0016] Figure 2 It is a structural schematic diagram of the generator parts assembly machine control system of the present invention.

[0017] Explanation of the accompanying drawings: model construction module 11, reachable domain identification module 12, relationship map construction module 13, simulation assembly module 14, assembly evaluation selection module 15, control application module 16. DETAILED DESCRIPTION

[0018] The technical solution provided in the embodiments of the present invention is to solve the technical problems of low assembly efficiency and unstable assembly effect in the prior art. The overall idea adopted is as follows:

[0019] First, the design data of the target generator is obtained, and multiple digital accessory models are constructed based on these data. Next, the accessory assembly machine tool is interacted with to obtain the assembly reachable domain information of the machine tool. Then, according to the finished product model of the target generator, reverse engineering analysis is performed to construct the assembly relationship map of the generator to determine the assembly order and position between the accessories. Using the assembly relationship map as the assembly constraint, multiple assembly scheme sets are randomly generated. Based on multiple digital accessory models and assembly reachable domain information, a twin assembly space is constructed, and the generated assembly scheme set is simulated for assembly. An assembly evaluation function is defined to evaluate the simulated assembly results. According to the evaluation function, the optimal assembly scheme is extracted from the assembly scheme set. Finally, the optimal assembly scheme is input into the control system of the accessory assembly machine tool to guide the actual assembly operation.

[0020] The above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods of the specification to better understand the above technical solution. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments of the present invention. It should be understood that the present invention is not limited to the example embodiments used only to explain the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, it should be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings, rather than all of them.

[0021] Embodiment 1

[0022] Figure 1 The figure is a flow chart of a control method for a generator parts assembly machine tool according to the present invention, wherein the method comprises:

[0023] Obtain target generator design data and build multiple digital component models.

[0024] Specifically, first, obtain the design data of the target generator, including technical documents, design drawings, physical samples or material lists, etc. Then, based on the above design data, build digital models of multiple accessories of the target generator.

[0025] Optionally, construct multiple digital accessory models, including decomposing the 3D CAD model of the target generator into multiple sub-components or accessory models, and confirming detailed information of each accessory model, including geometry, size, material, etc.

[0026] Optionally, if no existing model exists in the target generator design data, a digital model of each accessory is created using 3D modeling software (such as SolidWorks, AutoCAD, CATIA, etc.) based on the document data or two-dimensional drawings.

[0027] Optionally, if the target generator design data includes a physical sample of the target generator, the physical sample can be disassembled based on three-dimensional scanning technology and three-dimensional point cloud data of multiple accessories of the target generator can be obtained through three-dimensional scanning; then, multiple digital accessory models of the target generator can be constructed based on the point cloud restoration method.

[0028] Optionally, the multiple digital accessory models are simplified digital models of each accessory of the target generator, including only basic dimensions and matching features, which helps to reduce unnecessary details and faces, thereby reducing model acquisition costs and subsequent model usage costs.

[0029] Interact with the accessory assembly machine tool to obtain the assembly reachable domain of the accessory assembly machine tool.

[0030] Specifically, the accessory assembly machine tool refers to an assembly device used to assemble a target generator, and the assembly reachable domain of the accessory assembly machine tool is the spatial range in which the accessory assembly machine tool can perform assembly actions.

[0031] In some embodiments, interacting with a component assembly machine tool to obtain an assembly reachable domain of the component assembly machine tool includes:

[0032] Analyze the accessory assembly machine tool to obtain multiple machine tool movable parts. Based on the combination relationship of the multiple machine tool movable parts, determine the multiple component degrees of freedom and multiple component motion restrictions, and generate spatial reachability constraints. Perform combination simulation based on the spatial reachability constraints, calculate the reachable space and reachable angle, and determine them as the assembly reachable domain.

[0033] Specifically, to obtain the assembly reachable domain, first, we need to understand the design and working principle of the assembly machine tool in detail from the design and manufacturing data of the machine tool. This includes understanding the functions, movement modes, and range of motion of each mechanical component, and identifying and obtaining information on all active components. Active components refer to components that can move, such as rotating shafts, sliding shafts, telescopic arms, etc.

[0034] Specifically, degrees of freedom refer to the number of ways a component can move freely. For example, a rotating axis has one degree of freedom (rotation around the axis), while a sliding axis may have one degree of freedom (sliding along the axis). Motion restrictions refer to the maximum and minimum range of component movement, such as rotation angle, movement range, etc. Through multiple component degrees of freedom and multiple component motion restrictions, spatial reachability constraints are generated, which describe the range of spatial positions that the machine tool can reach in actual operation.

[0035] Specifically, the assembly reachable domain of the machine tool is calculated according to the spatial reachable constraints by means of numerical simulation. Exemplarily, the assembly reachable domain of the machine tool is obtained by changing the control input of each movable component (for example, the angle of the rotating axis, the position of the sliding axis, etc.) and calculating the corresponding spatial position and posture. The assembly reachable domain can be represented by a three-dimensional spatial graph, in which each point represents the spatial position that the machine tool can reach in a possible motion state.

[0036] Exemplarily, the kinematic model of the machine tool is described using the Denavit-Hartenberg (DH) parameter method, which describes the relative position and posture of each component through a series of rotation and translation operations. Then, the kinematic model can be used to predict the motion state and spatial position of the machine tool under a given control input.

[0037] Optionally, multiple spatial positions in the reachable area of ​​the machine tool assembly are also marked with the posture information of the machine tool's movable parts, which represents the position and shape of the machine tool's movable parts when they reach the corresponding spatial points. This helps determine the orientation of the accessories during subsequent assembly, while avoiding assembly errors and equipment damage caused by interference in actual operations.

[0038] According to the finished product model of the target generator, reverse engineering is performed to construct an assembly relationship diagram of the target generator.

[0039] Specifically, the finished product model of the target generator refers to the target generator model in the assembled state, including a physical finished product model or a digital finished product model, which reflects the matching relationship between multiple accessories of the target generator. By decomposing the finished product model of the generator, identifying and extracting all independent components and sub-components, the matching and dependency relationship between multiple accessories of the target generator can be determined, and then the assembly steps and sequence of the target generator can be determined.

[0040] In some embodiments, reverse engineering is performed based on a finished product model of a target generator to construct an assembly relationship map of the target generator, including:

[0041] The target generator design data is exchanged to obtain the finished product model. Based on the finished product model, a finished product model assembly is constructed, and the finished product model assembly is reversely disassembled, and the accessory number, disassembly sequence and disassembly tool are identified and recorded, and stored as an accessory dependency table. According to the accessory dependency table, the accessory node and the accessory relationship edge are determined, and the assembly relationship map is drawn, wherein the accessory relationship edge includes the dependency direction, dependency mode and dependency tool.

[0042] Specifically, first, obtain the detailed design data of the target generator, including finished product drawings and assembly manuals, and then use assembly software (such as SolidWorks, etc.) to build the finished model assembly of the generator, including determining the positional relationship and matching relationship between the accessories, and setting the interference constraints between the accessories to review the actual assembly scene. In other words, the finished model assembly contains all the accessories of the target generator and their matching relationships.

[0043] Specifically, after obtaining the finished model assembly, reverse disassembly is performed to identify and record the accessory numbers, disassembly sequence and disassembly tools, and store them as an accessory dependency table, which provides basic data for constructing an assembly relationship map.

[0044] Specifically, according to the accessory dependency table, the accessory nodes and accessory relationship edges are determined. The accessory nodes represent each accessory of the target generator and the connectors between the accessories, while the accessory relationship edges represent the dependency relationship between the accessories, including the position relationship, order relationship and matching form between the accessories.

[0045] Furthermore, an assembly relationship map is drawn based on the determined accessory nodes and accessory relationship edges. In the assembly relationship map, the accessory relationship edges include dependency directions, dependency methods, and dependency tools, which provide detailed guidance for understanding and reproducing the assembly process. Among them, the dependency direction refers to the assembly sequence between accessories, the dependency method refers to the matching form between accessories (such as snap-on, slide limit, riveting, welding, screw connection, interference fit, etc.), and the dependent tools are peripheral tools that form the matching between accessories, exemplarily including power tools, welding equipment, heat treatment equipment, measuring instruments, lubrication equipment, alignment tools, jigs, etc.

[0046] The above method steps can help to understand and reproduce complex assembly processes and provide basic data and technical support for the optimization and intelligent control of the assembly process.

[0047] Taking the assembly relationship graph as assembly constraints, a set of assembly solutions is randomly generated.

[0048] In some embodiments, the assembly relationship graph is used as an assembly constraint to randomly generate an assembly solution set, including:

[0049] Based on the assembly relationship graph, a pre-combination is performed to generate multiple assembly step groups. The multiple assembly step groups are analyzed in parallel, and based on the parallel analysis results, the non-main assembly step groups are stripped to obtain simplified assembly steps. Based on the target generator assembly relationship graph, the simplified assembly steps are randomly mutated to obtain the assembly solution set.

[0050] Specifically, first, the assembly relationship graph is analyzed to determine the component groups that can be used as independent sub-assemblies. These component groups can be completed independently during the assembly process without relying on other components or component groups. In other words, the multi-stage assembly step group corresponds to multiple sub-assemblies of the target generator assembly model, and these sub-assemblies can be completely assembled into the target generator assembly model or disassembled from it.

[0051] In other words, if the assembly relationship diagram is regarded as an assembly step tree, then the multi-segment assembly step group is the multiple segments or branches of the assembly step tree. Specifically, in the assembly step tree, the root node usually represents the entire assembly, and each leaf node represents a basic accessory that does not need to be further decomposed. The path from the root node to the leaf node represents a complete assembly process. The multi-segment assembly step group, that is, the multiple segments or branches of the assembly step tree, represents sub-assembly processes that can be completed independently. These sub-assembly processes can proceed in parallel, thereby greatly improving assembly efficiency.

[0052] Specifically, for each independently assembleable accessory group, its assembly sequence is determined, and a corresponding assembly sequence group is generated. The assembly sequence group includes the assembly sequence of the accessories, and the tools and operations required for each assembly step.

[0053] Specifically, the purpose of parallel analysis is to find out the assembly steps that can be performed simultaneously, that is, those steps that will not affect each other during the assembly process. This can be achieved by analyzing the assembly relationship map (or assembly step tree) to find those steps that have no direct or indirect dependencies. Then, by stripping off the non-main assembly step groups to simplify the assembly process, those steps (or accessory groups) that are not the main assembly are stripped off from the assembly process. These non-main assembly step groups can be implemented through parallel pre-assembly, thereby effectively simplifying the assembly process.

[0054] Specifically, based on the main assembly step group and the stripped non-main assembly step group, a simplified assembly step is generated, and the simplified assembly step should include all steps related to directly assembling the target generator. The above-mentioned pre-assembly method based on the assembly relationship graph can greatly optimize the assembly process, improve assembly efficiency, and also help to ensure assembly quality.

[0055] Based on the multiple digital accessory models and the assembly reachable domain, a twin assembly space is constructed to simulate the assembly of the assembly solution set.

[0056] In some embodiments, based on the plurality of digital accessory models and the assembly reachable domain, a twin assembly space is constructed, including:

[0057] An assembly space reference is established based on the machine tool coordinate system of the accessory assembly machine. Based on the feeding characteristics of multiple accessories and multiple assembly step groups, multiple incoming material sources are located in combination with the assembly space reference. A twin assembly space is constructed based on the assembly reachable domain, multiple incoming material sources and the assembly space reference. The finished product model is parsed, the accessory orientation constraints are configured, and the twin assembly space is initialized with the accessory orientation constraints.

[0058] Specifically, first, the coordinate system of the accessory assembly machine is used as the reference coordinate system of the twin assembly space to obtain the assembly space reference, which is used to define the basic reference points and directions of the entire assembly space. Through this coordinate system, each accessory can be accurately positioned and aligned. Then, based on the multi-segment assembly step group, multiple incoming material sources are determined, where the feeding characteristics refer to the position, angle, sequence and other characteristics of the accessory feeding process. In other words, the feeding characteristics are based on the position and posture of multiple sub-assemblies corresponding to the multi-segment assembly step group when they are transferred to the accessory assembly machine.

[0059] Specifically, the data of the future material position source is combined with the assembly space benchmark to create a virtual twin assembly space, which is used to simulate the real assembly process. Then, the model of the final assembly product is analyzed to determine the specific position and direction of each accessory in the finished product, and set orientation constraints for each accessory to ensure that all accessories can be correctly aligned and fixed during the assembly process. The orientation constraints include angle constraints and position constraints.

[0060] In some embodiments, performing simulated assembly on the assembly solution set further includes:

[0061] Based on the multiple digital accessory models, configure the accessory clearance constraint set. Traverse the assembly solution set, combine the accessory clearance constraint set, and determine the simulated assembly constraint series. According to the simulated assembly constraint series, perform simulated assembly in the twin assembly space, record the accessory path, accessory stability, assembly time, and assembly cost, and output as the simulated assembly result.

[0062] Specifically, the clearance constraint set of an accessory is a space restriction set to prevent collisions between accessories. The clearance constraint set defines the free space that must be maintained around each accessory.

[0063] Optionally, the accessory clearance constraint set is determined based on the model size of multiple digital accessory models, and the accessory clearance constraint set includes the clearance constraints of multiple isolated digital accessory models and the accessory group clearance constraints corresponding to the multi-segment assembly step group. Exemplarily, the clearance constraint is represented as a space of a specific shape feature located at the top of the action part of the accessory assembly machine tool, and the space is slightly larger than the model size of the multiple digital accessory models or the multi-segment assembly step group.

[0064] Specifically, according to the assembly scheme set, the clearance constraint set of the accessories is called, and according to the assembly order of the accessories in each assembly scheme, the action order of multiple clearance constraints is set to generate a simulated assembly constraint series. Through this simulated assembly constraint series, it is possible to ensure that the movement and assembly process of the accessories in the simulated assembly process meet the requirements of the target generator and avoid interference, collision between accessories, etc.

[0065] Specifically, in the twin assembly space, simulated assembly is performed according to the simulated assembly constraint series, and the accessory path, accessory stability, assembly time, and assembly cost are recorded as the simulated assembly results. Among them, the accessory path includes the movement path of each accessory during the assembly process. It is used to understand how the accessories move during the assembly process and whether there are paths that may cause collisions or other problems. Accessory stability refers to the stability of each accessory during the assembly process, especially the stability in the mating position, which is used to determine the accuracy of multiple accessories during assembly. Assembly time is the time required to complete the assembly process. The assembly cost is the cost required to complete the assembly process, in order to understand the economic benefits of the assembly process.

[0066] An assembly evaluation function is defined, and based on the assembly evaluation function, the simulated assembly result is evaluated and the optimal assembly solution is extracted from the assembly solution set.

[0067] Specifically, based on the defined assembly evaluation function, the simulated assembly results are traversed to evaluate the assembly effect, wherein the specific form of the assembly evaluation function varies according to the specific requirements of the assembly task to reflect the assembly control preferences in different tasks or scenarios.

[0068] Specifically, the assembly scheme with the smallest (or largest, depending on the definition of the function) assembly evaluation function value is selected from the assembly scheme set as the optimal assembly scheme. The optimal assembly scheme can be considered as the assembly scheme that provides the best assembly efficiency and quality while satisfying all constraints.

[0069] In some implementations, defining an assembly evaluation function includes:

[0070] The assembly evaluation function is expressed as:

[0071]

[0072] Among them, f L It represents the complexity factor of the accessory path; L represents the total length of the accessory path; DOF represents the total degree of freedom of the accessory assembly machine; τ i Characterizes the torque of the i-th accessory model on the accessory assembly machine tool; D i Characterizes the degree of freedom activated when the i-th accessory model is assembled; k is the dimensionless coefficient; t e ,t wThey represent the idle time and waiting time of the parts assembly machine respectively; T represents the total time of the assembly plan; c E 、c W 、c M They respectively represent the energy consumption cost, loss cost and maintenance cost of the accessory assembly machine tool; w1, w2, w3 and w4 are weighted adjustment metrics.

[0073] Specifically, the complexity factor of the accessory path is determined based on the change in path speed, path direction, and accessory rotation of the accessory path. That is, the more complex and longer the accessory path is, the greater the evaluation function value is.

[0074] Specifically, The term represents the influence of each accessory model on the total degrees of freedom and torque of the machine tool. The greater the torque and the more degrees of freedom are activated, the greater the value of the evaluation function. In other words, the greater the mass of the accessory, the greater the torque on the machine tool, the more degrees of freedom the machine tool has, the greater the control difficulty of the corresponding accessory position, and the lower the corresponding control accuracy.

[0075] Specifically, T 2 (t e +t w ) represents the impact of the machine tool's idle time and waiting time on assembly evaluation. The longer the idle and waiting time, the larger the evaluation function value; the longer the total time, the larger the evaluation function value.

[0076] Specifically, w4T(c E +c W +c M ) represents the total time of the assembly solution and the impact of various costs (energy consumption, loss, maintenance cost) on the evaluation. The longer the time and the higher the unit time cost, the greater the evaluation function value.

[0077] Through this evaluation function, we can comprehensively consider multiple factors such as path complexity, degrees of freedom, torque, no-load and waiting time, total time and cost, evaluate the advantages and disadvantages of different assembly schemes, and select the optimal assembly scheme.

[0078] The optimal assembly plan is input into the control system of the accessory assembly machine tool to perform assembly operations.

[0079] In summary, the generator parts assembly machine tool control method provided by the present invention has the following technical effects:

[0080] By acquiring the design data of the target generator, multiple digital accessory models are constructed; the interactive accessory assembly machine tool is used to obtain the assembly reachable domain of the accessory assembly machine tool; reverse engineering is performed based on the finished product model of the target generator to construct the assembly relationship map of the target generator; the assembly relationship map is used as the assembly constraint to randomly generate an assembly solution set; based on multiple digital accessory models and assembly reachable domains, a twin assembly space is constructed to simulate the assembly of the assembly solution set; an assembly evaluation function is defined, the simulated assembly results are evaluated based on the assembly evaluation function, and the optimal assembly solution is extracted from the assembly solution set; the optimal assembly solution is input into the control system of the accessory assembly machine tool to perform assembly operations. This achieves the technical effect of improving assembly consistency and assembly efficiency.

[0081] Embodiment 2

[0082] Figure 2 This is a schematic diagram of the structure of the generator parts assembly machine control system of the present invention. For example, Figure 1 The flow chart of the generator parts assembly machine tool control method of the present invention can be shown as follows: Figure 2 The structure shown is implemented.

[0083] Based on the same concept as the generator parts assembly machine tool control method in the above embodiment, the present invention also provides a generator parts assembly machine tool control system including:

[0084] The model building module 11 is used to obtain the design data of the target generator and build multiple digital component models.

[0085] The reachable domain identification module 12 is used to interact with the accessory assembly machine tool to obtain the assembly reachable domain of the accessory assembly machine tool.

[0086] The relationship graph construction module 13 is used to perform reverse engineering based on the finished product model of the target generator and construct an assembly relationship graph of the target generator.

[0087] The solution building module 14 is used to randomly generate an assembly solution set using the assembly relationship graph as an assembly constraint.

[0088] The simulation assembly module 15 is used to construct a twin assembly space based on the multiple digital accessory models and the assembly reachable domain, and simulate the assembly of the assembly solution set.

[0089] The assembly evaluation selection module 16 is used to define an assembly evaluation function, and based on the assembly evaluation function, evaluate the simulated assembly results and extract the optimal assembly solution from the assembly solution set.

[0090] The control application module 17 is used to input the optimal assembly solution into the control system of the accessory assembly machine tool to perform assembly operations.

[0091] Wherein, the reachable domain identification module 12 includes:

[0092] The movable parts analysis unit is used to analyze the accessory assembly machine tool and obtain multiple machine tool movable parts.

[0093] The reachable constraint unit is used to determine the plurality of component degrees of freedom and the plurality of component motion restrictions based on the combination relationship of the plurality of movable components of the machine tool, and generate a spatial reachable constraint.

[0094] The combination simulation unit is used to perform combination simulation based on the spatial reachability constraint, calculate the reachable space and the reachable angle, and determine them as the assembly reachable domain.

[0095] The relationship graph construction module 13 includes:

[0096] The finished product model unit is used to exchange the target generator design data and obtain the finished product model.

[0097] The reverse disassembly unit is used to construct a finished product model assembly based on the finished product model, and reversely disassemble the finished product model assembly, identify and record the accessory number, disassembly sequence and disassembly tool, and store them as an accessory dependency table.

[0098] A relationship graph drawing unit is used to determine the accessory nodes and accessory relationship edges according to the accessory dependency table, and draw the assembly relationship graph, wherein the accessory relationship edges include dependency direction, dependency mode and dependency tool.

[0099] Among them, the solution building module 14 includes:

[0100] The pre-assembly unit is used to perform pre-assembly based on the assembly relationship graph to generate multiple assembly step groups.

[0101] The parallel analysis unit is used to perform parallel analysis on the multiple assembly step groups, and based on the parallel analysis results, remove the non-main assembly step groups to obtain simplified assembly steps.

[0102] The random mutation unit is used to randomly mutate the simplified assembly sequence based on the target generator assembly relationship map to obtain the assembly solution set.

[0103] Wherein, the simulation assembly module 15 comprises:

[0104] The reference setting unit is used to establish an assembly space reference based on a machine tool coordinate system of a component assembly machine tool.

[0105] The material source positioning unit is used to locate multiple incoming material sources based on the feeding characteristics of multiple accessories and multiple stages of the assembly step group in combination with the assembly space reference.

[0106] The assembly space construction unit is used to construct a twin assembly space based on the assembly reachable domain, multiple incoming material sources and the assembly space benchmark.

[0107] The space initialization unit is used to parse the finished product model, configure the accessory orientation constraints, and initialize the twin assembly space with the accessory orientation constraints.

[0108] The simulation assembly module 15 further includes:

[0109] The clearance constraint unit is used to configure a clearance constraint set of an accessory based on a plurality of the digital accessory models.

[0110] The series constraint unit is used to traverse the assembly solution set and determine the simulated assembly constraint series in combination with the accessory clearance constraint set.

[0111] The simulated assembly unit is used to perform simulated assembly in the twin assembly space according to the simulated assembly constraint series, record the accessory path, accessory stability, assembly time, and assembly cost, and output the simulated assembly result.

[0112] Among them, the assembly evaluation selection module 16 includes:

[0113] An assembly evaluation function is expressed as:

[0114]

[0115] Among them, f L It represents the complexity factor of the accessory path; L represents the total length of the accessory path; DOF represents the total degree of freedom of the accessory assembly machine; τ i Characterizes the torque of the i-th accessory model on the accessory assembly machine tool; D i Characterizes the degree of freedom activated when the i-th accessory model is assembled; k is the dimensionless coefficient; t e ,t w They represent the idle time and waiting time of the parts assembly machine respectively; T represents the total time of the assembly plan; c E 、c W 、c M They respectively represent the energy consumption cost, loss cost and maintenance cost of the accessory assembly machine tool; w1, w2, w3 and w4 are weighted adjustment metrics.

[0116] It should be understood that the embodiments mentioned in this specification focus on their differences from other embodiments. The specific embodiments in the aforementioned embodiment one are also applicable to the generator parts assembly machine tool control system described in embodiment two. For the sake of brevity of the specification, they will not be further elaborated here.

[0117] It should be understood that the embodiments disclosed in the present invention and the above description can enable those skilled in the art to use the present invention to implement the present invention. At the same time, the present invention is not limited to the above-mentioned embodiments. It should be understood that those skilled in the art can still modify the technical solutions recorded in the above-mentioned embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A generator parts assembly machine tool control method, characterized in that: The method comprises: Obtain target generator design data and build multiple digital component models; Interact with the accessory assembly machine tool to obtain the assembly reachable domain of the accessory assembly machine tool; According to the finished product model of the target generator, reverse engineering is performed to construct the assembly relationship map of the target generator; Taking the assembly relationship graph as assembly constraints, randomly generating an assembly solution set; Based on the multiple digital accessory models and the assembly reachable domain, a twin assembly space is constructed to simulate the assembly of the assembly solution set; defining an assembly evaluation function, and based on the assembly evaluation function, evaluating the simulated assembly result and extracting the optimal assembly solution from the assembly solution set; The optimal assembly plan is input into the control system of the accessory assembly machine tool to perform assembly operations.

2. The generator parts assembly machine tool control method according to claim 1, characterized in that: Interact with the accessory assembly machine to obtain the assembly reachable domain of the accessory assembly machine, including: Analyze the parts assembly machine tools and obtain multiple machine tool moving parts; Based on the combination relationship of the plurality of movable parts of the machine tool, determining the plurality of component degrees of freedom and the plurality of component motion restrictions, and generating a spatial reachability constraint; A combined simulation is performed based on the spatial reachability constraint, and the reachable space and the reachable angle are calculated to determine the assembly reachable domain.

3. The generator parts assembly machine tool control method according to claim 2, characterized in that: According to the finished product model of the target generator, reverse engineering is performed to build the assembly relationship diagram of the target generator, including: Interacting the target generator design data to obtain the finished product model; Based on the finished product model, a finished product model assembly is constructed, and the finished product model assembly is reversely disassembled, and accessory numbers, disassembly sequences and disassembly tools are identified and recorded, and stored as an accessory dependency table; According to the accessory dependency table, the accessory nodes and the accessory relationship edges are determined, and the assembly relationship graph is drawn, wherein the accessory relationship edges include dependency direction, dependency mode and dependency tool.

4. The generator parts assembly machine tool control method according to claim 3, characterized in that: Taking the assembly relationship graph as assembly constraints, a set of assembly solutions is randomly generated, including: Pre-combining based on the assembly relationship graph to generate multiple assembly step groups; Performing parallel analysis on the multiple assembly step groups, and based on the parallel analysis results, stripping non-main assembly step groups to obtain simplified assembly steps; Based on the target generator assembly relationship graph, the simplified assembly sequence is randomly mutated to obtain the assembly solution set.

5. The generator parts assembly machine tool control method according to claim 4, characterized in that: Based on the multiple digital accessory models and the assembly reachable domain, a twin assembly space is constructed, including: Establish the assembly space reference based on the machine tool coordinate system of the parts assembly machine tool; Based on the feeding characteristics of the multiple accessories and the multiple assembly step groups, combined with the assembly space reference, multiple incoming material position sources are located; Constructing a twin assembly space based on the assembly reachable domain, the plurality of incoming material sources and the assembly space benchmark; The finished product model is parsed, accessory orientation constraints are configured, and the twin assembly space is initialized with the accessory orientation constraints.

6. The generator parts assembly machine tool control method according to claim 5, characterized in that: Performing simulated assembly on the assembly solution set also includes: configuring a set of accessory clearance constraints based on the plurality of digital accessory models; Traversing the assembly solution set, combining the accessory clearance constraint set, and determining a simulated assembly constraint series; According to the simulated assembly constraint series, simulated assembly is performed in the twin assembly space, and accessory paths, accessory stability, assembly time, and assembly costs are recorded, and the simulated assembly results are output.

7. The generator parts assembly machine tool control method according to claim 6, characterized in that: Define the assembly evaluation function, including: The assembly evaluation function is expressed as: Among them, f L It represents the complexity factor of the accessory path; L represents the total length of the accessory path; DOF represents the total degree of freedom of the accessory assembly machine; τ i Characterizes the torque of the i-th accessory model on the accessory assembly machine tool; D i Characterizes the degree of freedom activated when the i-th accessory model is assembled; k is the dimensionless coefficient; t e ,t w They represent the idle time and waiting time of the parts assembly machine respectively; T represents the total time of the assembly plan; c E 、c W 、c M They respectively represent the energy consumption cost, loss cost and maintenance cost of the accessory assembly machine tool; w1, w2, w3 and w4 are weighted adjustment metrics.

8. Generator parts assembly machine tool control system, characterized in that: The system comprises: A model building module, the model building module is used to obtain target generator design data and build multiple digital component models; A reachable domain identification module, wherein the reachable domain identification module is used to interact with the accessory assembly machine tool to obtain an assembly reachable domain of the accessory assembly machine tool; A relationship map construction module, wherein the relationship map construction module is used to perform reverse engineering based on a finished product model of a target generator to construct an assembly relationship map of the target generator; A scheme building module, wherein the scheme building module is used to randomly generate an assembly scheme set using the assembly relationship graph as an assembly constraint; A simulation assembly module, wherein the simulation assembly module is used to construct a twin assembly space based on a plurality of the digital accessory models and the assembly reachable domain, and to simulate the assembly of the assembly solution set; An assembly evaluation selection module, the assembly evaluation selection module is used to define an assembly evaluation function, and based on the assembly evaluation function, evaluate the simulated assembly results and extract the optimal assembly solution from the assembly solution set; A control application module is used to input the optimal assembly solution into the control system of the accessory assembly machine tool to perform assembly operations.

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