Method and device for automatically generating tooling support rod structure

Abstract

The invention discloses a method and a device for automatically generating a tooling support rod structure. The method comprises the steps that spatial position information of a reference part of the tooling in a three-dimensional model of the tooling is determined, and the reference part comprises a main rod and a suction cup; based on the spatial position information, a geometric structure relation model of an auxiliary component connected with the reference component is established, and the auxiliary component comprises a supporting rod, a pipe chuck, a main rod connector and a suction cup adapter; and based on the geometric construction relation model, determining an installation pose of the auxiliary component, and based on the installation pose, generating a support rod structure of the tooling. The technical problem that in an existing tooling design technology, due to the fact that the degree of freedom of parts is large, assembling and adjusting are tedious is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile intelligent manufacturing, in particular to a method and device for automatically generating an end effector support rod structure. BACKGROUND

[0002] With the rapid development of the automobile industry, vehicle manufacturers increasingly rely on simulation verification during the development and production process of new vehicle models. In particular, in the stamping process, in order to complete the forming and handling of the body covering, stamping workshops often need to design and use end effectors. As an important component of the robot handling system, the design of the end effector directly affects the accuracy of process verification and the stability of the production line.

[0003] In the prior art, the design of the end effector is mainly completed manually. For example, for a common suction cup type end effector, after the positions of the suction cup and the horizontal rod mechanism are determined, the designer needs to adjust the assembly relationship of the main rod joint, the support rod, the pipe clamp and the suction cup adapter one by one to meet the process and structural requirements. Since these parts have a high degree of freedom in three-dimensional space, the designer needs to repeatedly adjust the attitude of the parts, which consumes a lot of time and effort, resulting in low overall design efficiency and the introduction of errors due to human factors.

[0004] To address the above problems, some improvement schemes have been proposed in the prior art. For example, some schemes make the main rod joint, the support rod and the pipe clamp into one piece and allow the angle of the pipe clamp to be adjustable; other schemes design the suction cup and the adapter as an integrated structure to reduce the amount of assembly adjustment. Some schemes use artificial intelligence technology to assist in design, such as the AI-based end effector design method proposed in the Chinese patent application (application number 2025111409142, invention title "End effector design method and device based on AI") filed by the applicant on August 15, 2025. However, since the parts in the overall structure still have many degrees of freedom, the designer still needs to perform manual or automatic assembly adjustment within a large range, resulting in the problem of complicated assembly process caused by too many degrees of freedom of the parts, which has not been fundamentally solved.

[0005] To address the above problems, no effective solution has been proposed so far. SUMMARY

[0006] The embodiments of the present application provide a method and device for automatically generating an end effector support rod structure to at least solve the technical problem of complicated assembly adjustment caused by too many degrees of freedom of the parts in the prior end effector design technology.

[0007] According to an aspect of the embodiments of the present application, a method for automatically generating a support rod structure of an end effector is provided, which comprises: determining spatial position information of a reference component of the end effector in a three-dimensional model of the end effector, wherein the reference component comprises a main rod and a suction cup; establishing a geometric configuration relationship model of auxiliary components connected with the reference component based on the spatial position information, wherein the auxiliary components comprise a support rod, a pipe clamp, a main rod joint and a suction cup adapter; determining an installation pose of the auxiliary components based on the geometric configuration relationship model, and generating the support rod structure of the end effector based on the installation pose.

[0008] According to another aspect of the embodiments of the present application, a device for automatically generating a support rod structure of an end effector is also provided, which comprises: a determining module configured to determine spatial position information of a reference component of the end effector in a three-dimensional model of the end effector, wherein the reference component comprises a main rod and a suction cup; a geometric configuration module configured to establish a geometric configuration relationship model of auxiliary components connected with the reference component based on the spatial position information, wherein the auxiliary components comprise a support rod, a pipe clamp, a main rod joint and a suction cup adapter; and a generating module configured to determine an installation pose of the auxiliary components based on the geometric configuration relationship model, and generate the support rod structure of the end effector based on the installation pose.

[0009] In the embodiments of the present application, the spatial position information of a reference component of the end effector in a three-dimensional model of the end effector is determined, wherein the reference component comprises a main rod and a suction cup; a geometric configuration relationship model of auxiliary components connected with the reference component is established based on the spatial position information, wherein the auxiliary components comprise a support rod, a pipe clamp, a main rod joint and a suction cup adapter; an installation pose of the auxiliary components is determined based on the geometric configuration relationship model, and the support rod structure of the end effector is generated based on the installation pose. Through the above scheme, the technical problem of complicated assembly adjustment caused by the multiple degrees of freedom of parts in the existing end effector design technology is solved. BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0011] Figure 1 is a structural view of a vehicle body part provided with an end effector according to the prior art;

[0012] Figure 2 is a structural schematic view of an end effector according to the prior art;

[0013] Figure 3is a flow chart of an optional end effector support strut structure automatic generation method according to an embodiment of the present application;

[0014] Figure 4 is a flow chart of another optional end effector support strut structure automatic generation method according to an embodiment of the present application;

[0015] Figure 5A is an assembly shaft system schematic diagram of a suction cup according to an embodiment of the present application;

[0016] Figure 5B is an assembly shaft system schematic diagram of a suction cup adapter according to an embodiment of the present application;

[0017] Figure 5C is an assembly shaft system schematic diagram of a pipe clamp according to an embodiment of the present application;

[0018] Figure 5D is an assembly shaft system schematic diagram of a main rod adapter according to an embodiment of the present application;

[0019] Figure 5E is an assembly shaft system schematic diagram of a main rod or support rod according to an embodiment of the present application;

[0020] Figure 6 is a connection schematic diagram of an adapter with different angles according to an embodiment of the present application;

[0021] Figure 7A is a geometric schematic process diagram of an end effector support strut structure automatic generation method according to an embodiment of the present application;

[0022] Figure 7B is a geometric schematic process diagram of an end effector support strut structure automatic generation method according to an embodiment of the present application, in which a pipe clamp is separated out;

[0023] Figure 7C is a schematic diagram of a rotation radius R according to an embodiment of the present application;

[0024] Figure 8 is a structural schematic diagram of an optional end effector support strut structure automatic generation device according to an embodiment of the present application;

[0025] Figure 9 shows a structural schematic diagram of an electronic device suitable for implementing an embodiment of the present disclosure; Legend: 1. Jumper plate; 2. Main rod; 3. Main rod connector; 4. Support rod; 5. Pipe clamp; 6. Suction cup; 7. Suction cup adapter; 24. Main rod axis; R, rotation radius; L, translation distance; m, tangent; m”, tangent after translation; n, redundant tangent; 82. Determining module; 84. Geometric construction module; 86. Generating module; 1001. CPU; 1002. ROM; 1003. RAM; 1004. Bus; 1005. I / O interface; 1006. Input section; 1007. Output section; 1008. Storage section; 1009. Communication section; 1010. Driver; 1011. Removable media. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] According to an embodiment of the present invention, a method embodiment for automatically generating an end effector support structure is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0029] End effector, such as Figure 1 As shown, this is a dedicated actuator installed at the end of an industrial robot or automated equipment. End effectors are typically like... Figure 2 The components shown include a jumper plate 1, a main rod 2, a main rod connector 3, a support rod 4, a pipe clamp 5, a suction cup 6, and a suction cup adapter 7.

[0030] The cross plate 1 is used to connect multiple main rods. The main rod 2 is the main support structure of the end effector, which is used to bear the weight of the entire device and transmit the movement force of the robot, and is usually a rigid beam made of aluminum alloy or carbon fiber material. The support rod 4 is used to support and adjust the height position of the suction cup or other execution elements, and is usually designed to be adjustable to adapt to different height working environments or workpiece sizes. The main rod joint 3 is used to connect the main rod and the support rod. The suction cup adapter 7 is used to install the interface part of the vacuum suction cup, and has multiple degree of freedom adjustment functions (such as angle, position fine adjustment) to accurately align the workpiece surface and achieve reliable grabbing. The suction cup 6 is the part that directly contacts the workpiece and grabs the object by negative pressure adsorption. Its material, shape and number can be selected and configured according to the characteristics of the workpiece. The pipe clamp 5 is used to connect the suction cup adapter 7 and the support rod 4.

[0031] Figure 3 A method for automatically generating an end effector support rod structure according to an embodiment of the present application, as shown in Figure 3 , the method comprises the following steps:

[0032] Step S302, determining the spatial position information of the reference components of the end effector in the three-dimensional model of the end effector, wherein the reference components include the main rod and the suction cup.

[0033] First, based on the actual assembly of each part in the support rod structure of the end effector, each part is represented by a center line segment with a preset length in the corresponding shaft system direction, and a joint type that meets the design requirements of the actual assembly is selected from the preset type of joint.

[0034] Next, the spatial position information of the reference components of the end effector in the three-dimensional model of the end effector is determined. For example, the assembly position of the suction cup on the sheet metal model, the Z-axis of the suction cup coincides with the normal line of the surface where the suction cup assembly point is located. The height and front and rear position of the main rod relative to the sheet metal model defined by different design requirements, etc.

[0035] For example, in some embodiments, the line segment of the main rod can be first established in the space of the three-dimensional model; then in the space, a plane on the shaft system of the suction cup adapter is created, the included angle between the plane and the line segment of the main rod is taken as the corresponding joint angle, and the joint type that meets the design requirements of the actual assembly is selected from the preset type of joint based on the corresponding joint angle. The present embodiment can intuitively reflect the assembly constraint condition by converting the spatial relationship between the main rod and the suction cup adapter into an included angle parameter, so as to determine the joint type based on the corresponding joint angle.

[0036] Step S304, based on the spatial position information, a geometric configuration relationship model of the auxiliary components connected with the reference components is established, wherein the auxiliary components include a support rod, a pipe clamp, a main rod joint and a suction cup adapter.

[0037] For example, based on the spatial position information, a first line segment Y is generated from the intersection of the axes of the two joints of the suction cup adapter to the main rod axis along the corresponding joint angle, and a second line segment X is generated with the Z axis of the suction cup adapter mounting shaft system as a reference; a circle is generated with the intersection as the center and the rotation radius of the pipe clamp on the pipe clamp support rod mounting shaft system as the radius on the first plane XY where the first line segment Y and the second line segment X are located. This embodiment takes the intersection as the starting point and constructs a circular geometric relationship, which can effectively determine the spatial layout of the pipe clamp and the support rod. This method converts the complex assembly process into a simple geometric configuration, improving the calculation efficiency of the support rod mounting pose.

[0038] Step S306, based on the geometric configuration relationship model, the mounting pose of the auxiliary components is determined, and based on the mounting pose, the support rod structure of the end effector is generated.

[0039] A tangent line is generated on the first plane XY which is tangent to the circle and has a corresponding joint angle with the main rod axis; the tangent line is translated in a direction perpendicular to the first plane XY, wherein the translation distance is the distance from the origin on the suction cup adapter to the origin of the pipe clamp support rod shaft system; the translated tangent line is taken as the axis of the support rod, and the intersection of the translated tangent line and the main rod axis is taken as the adapter mounting pose of the corresponding joint angle. Based on the mounting pose, the support rod structure of the end effector is generated. Finally, based on the mounting pose, the support rod structure of the end effector is generated.

[0040] This embodiment accurately determines the axis and joint position of the support rod through the tangent line and translation operation, avoiding manual adjustment errors. This method realizes the automatic conversion from the geometric model to the actual assembly pose, thereby ensuring that the generated support rod structure meets the design constraints.

[0041] The embodiment of the present application also provides another automatic generation method of an end effector support rod structure. This method is mainly applied to automobile stamping process and robot handling system, and through abstract modeling and spatial geometric calculation of the parts of the end effector support rod structure, the end effector support rod structure pose meeting the design requirements can be quickly obtained without manual adjustment of the assembly relationship one by one. This embodiment takes the main rod and the suction cup as the reference components, determines their spatial positions in the space of the three-dimensional model, further deduces the geometric configuration relationship of the auxiliary components, and then determines the mounting pose of the auxiliary components. Finally, based on the mounting pose, a complete support rod structure is generated, thereby realizing the automatic design of the end effector support rod structure.

[0042] Specifically, as Figure 4 shown, the automatic generation method of the end effector support structure includes the following steps:

[0043] Step S402, a main rod line segment is established in the space.

[0044] First, abstract modeling is performed on each part in the end effector support structure. The parts of the end effector, such as the support rod, the pipe clamp, the suction cup adapter, etc., all have a clear assembly axis direction, so they can be represented by line segments with their axial direction as the reference. The assembly axis of each part is as shown in Figures 5A to 5E , wherein, Figures 5A to 5E is a schematic diagram of the assembly axis of the suction cup, the suction cup adapter, the pipe clamp, the main rod adapter, and the main rod / support rod;

[0045] For example, for the main rod and the support rod, a straight line type line segment can be used to represent them; for the pipe clamp, the center point of the support rod mounting axis can be taken as the origin, and a center line segment extending from the point can be used to represent it; for the suction cup adapter, it can be represented as an L-shaped line segment. Then, the main rod line segment, i.e., the main rod axis, is established in the space of the three-dimensional model. In this way, the complex three-dimensional parts are simplified to line segment representations in the geometric sense, thereby facilitating subsequent geometric operations.

[0046] Step S404, a plane on the suction cup adapter axis in the space is created, and the included angle between the plane and the main rod line segment is the adapter angle.

[0047] After the abstract modeling of the parts is completed, the adapter type that meets the actual assembly requirements needs to be selected from the preset adapter types. The adapter type refers to different angle and structure ways of connecting the support rod and the main rod. In this embodiment, a variety of commonly used adapter schemes are pre-stored in the adapter type library, such as 30°, 45°, 60°, etc. fixed angle adapters, or universal adjustable adapters.

[0048] The selection of the adapter type is based on the spatial relationship between the main rod and the suction cup adapter. Specifically, in the space of the three-dimensional model, first, the plane on which the suction cup adapter axis is located is created, and the included angle between the plane and the main rod axis is taken as the adapter angle. The connection of adapters of different angles is as shown in Figure 6 . Among them, Figure 6 (a) in Figure 6 (b) shows an angle of 90°. According to the adapter angle, the closest adapter scheme is matched from the preset adapter type library, and then the adapter type used for the support structure design is determined.

[0049] Through this process, the embodiment can avoid the tedious process of manually repeatedly trying the joint angle, quickly select the joint structure that meets the design requirements, and improve the modeling efficiency.

[0050] Step S406, draw a circle with a radius R on the plane, and R is the vertical distance of the two mounting shaft systems of the pipe clamp.

[0051] Reference Figure 7A and 7B First, take the intersection O of the two joint axes of the suction cup adapter 7 as the starting point. Based on this, generate a first line segment Y in the direction of the main rod axis 24. The direction of the line segment is determined by the predetermined joint angle, for example, forming a 30°, 45° or 60° angle with the main rod axis.

[0052] Subsequently, generate a second line segment X with the normal line of the suction cup working circular surface, i.e. the Z axis of the suction cup adapter mounting shaft system, as the reference. This line segment represents the reference datum of the suction cup direction, which is used to constrain the installation posture of the support rod.

[0053] In the first plane XY where the first line segment Y and the second line segment X are located, generate a circle with the above intersection O as the center, and the radius of the circle is the rotation radius of the pipe clamp in its support rod mounting shaft system, as shown in Figure 7C The rotation radius R is defined as the distance from the origin of the pipe clamp to the mounting point of the support rod, i.e. the vertical distance of the two mounting shaft systems of the pipe clamp. Through this circle, the possible motion range of the pipe clamp in space can be described.

[0054] The embodiment simplifies the complex assembly problem into a plane geometry problem. Through the combination of line segments and circles, the geometric constraint relationship between auxiliary components can be clearly expressed, laying the foundation for subsequent installation posture calculation.

[0055] Step S408, make a tangent to the circle at the intersection of the plane and the main rod line segment, and take the tangent parallel to the intersection line of the adapter to the main rod line segment.

[0056] First, generate a tangent m and a redundant tangent n in the first plane XY, which is tangent to the circle and forms a corresponding joint angle with the main rod axis. Take the tangent m parallel to the intersection line of the suction cup adapter to the main rod axis, which not only meets the angle requirement between the support rod and the main rod, but also ensures the spatial consistency with the rotation radius of the pipe clamp.

[0057] Step S410, translate the tangent, and the translation distance is the vertical distance from the pipe clamp to the suction cup adapter.

[0058] Translate the tangent m along the direction perpendicular to the first plane XY to obtain the translated tangent m". The translation distance L is equal to the distance from the origin of the suction cup adapter to the origin of the pipe clamp support rod shaft system, i.e. the vertical distance from the pipe clamp to the suction cup adapter.

[0059] Step S412, determine the pose.

[0060] The tangent line after translation is the center line of the strut, and the intersection of this line and the main rod line segment is the main rod joint position, that is, the assembly point of the main rod joint. Assembly is performed based on the determined assembly point.

[0061] It is judged whether there are other parts to be assembled, and if so, the steps S404 to S412 are executed cyclically until all the parts of the end effector are assembled.

[0062] Compared with the prior art, the embodiment of the application simplifies the operation steps, greatly reduces the workload of the designer, improves the work efficiency, and reduces the design cost. In addition, the designer does not need to adaptively adjust the assembly relationship between each part, and can quickly calculate the optimal pose of the strut structure under the specified joint type. The center line of each part coincides with the line segment to automatically generate a complete strut pose that meets the conditions. The embodiment of the application uses the motion trajectory of each part in the strut structure to automatically calculate the pose of the strut through mathematical operation, greatly improving the adaptive efficiency of the strut structure pose.

[0063] The application also provides a device for automatically generating an end effector strut structure, as shown in Figure 8 The device comprises a determination module 82 configured to determine the spatial position information of a reference component of an end effector in a three-dimensional model of the end effector, wherein the reference component comprises a main rod and a suction disc; a geometric configuration module 84 configured to establish a geometric configuration relationship model of an auxiliary component connected with the reference component based on the spatial position information, wherein the auxiliary component comprises a strut, a pipe clamp, a main rod joint, and a suction disc adapter; and a generation module 86 configured to determine the installation pose of the auxiliary component based on the geometric configuration relationship model, and generate a strut structure of the end effector based on the installation pose.

[0064] It should be noted that the device for automatically generating an end effector strut structure provided in the above embodiment is only exemplified by the division of the above functional modules. In actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the device for automatically generating an end effector strut structure provided in the above embodiment and the method for automatically generating an end effector strut structure provided in the above embodiment belong to the same concept, and the specific implementation process is described in detail in the method embodiment, which will not be described here.

[0065] Figure 9 A structural schematic diagram of an electronic device suitable for implementing the embodiments of the present disclosure is shown. It should be noted that, Figure 9The electronic device shown is merely an example and should not impose any limitation on the functions and use range of the embodiments of the present disclosure.

[0066] As shown in Figure 9 The electronic device includes a central processing unit (CPU) 1001 that can perform various appropriate actions and processes in accordance with a program stored in a read only memory (ROM) 1002 or a program loaded from a storage section 1008 into a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for system operation are also stored. The CPU 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0067] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including a display device such as a cathode ray tube (CRT), a liquid crystal display (LCD), and the like, and a speaker, and the like; a storage section 1008 including a hard disk, and the like; and a communication section 1009 including a network interface card such as a LAN card, a modem, and the like. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as necessary. A removable recording medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like is attached to the drive 1010 as necessary, so that a computer program read therefrom is installed in the storage section 1008 as necessary.

[0068] The above-described is merely a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered as falling within the scope of protection of the present application.

Claims

1. A method for automatically generating an end effector support structure, characterized in that, include: The spatial position information of the reference components of the end effector in the three-dimensional model of the end effector is determined, wherein the reference components include the main rod and the suction cup; Based on the spatial location information, a geometric structure relationship model of the auxiliary components connected to the reference component is established, wherein the auxiliary components include a support rod, a pipe clamp, a main rod connector, and a suction cup adapter. Based on the geometric structure relationship model, the installation pose of the auxiliary component is determined, and based on the installation pose, the support structure of the end effector is generated.

2. The method according to claim 1, characterized in that, Based on the spatial location information, a geometrical structural relationship model of the auxiliary components connected to the reference component is established, including: Based on the spatial location information, starting from the intersection of the axes of the two connectors of the suction cup adapter, a first line segment is generated along the corresponding connector angle towards the axis of the main rod, and a second line segment is generated with reference to the normal of the working surface of the suction cup. In the first plane containing the first line segment and the second line segment, a circle is generated with the starting point as the center and the rotation radius of the pipe clamp on the pipe clamp support rod mounting system as the radius.

3. The method according to claim 2, characterized in that, Based on the aforementioned geometric structure relationship model, the installation pose of the auxiliary component is determined, including: Generate a tangent line on the first plane that is tangent to the circle and forms the corresponding joint angle with the axis of the main rod; The tangent is translated along a direction perpendicular to the first plane, wherein the translation distance is the distance from the origin of the suction cup adapter to the origin of the pipe clamp support rod axis. The translated tangent is taken as the axis of the support rod, and the intersection of the translated tangent and the axis of the main rod is taken as the adapter installation position for the corresponding joint angle.

4. The method according to claim 2, characterized in that, Before determining the spatial position information of the reference component of the end effector in the three-dimensional model of the end effector, the method further includes: based on the actual assembly of each part in the support structure of the end effector, representing each part in the corresponding axis direction with a center line segment of a preset length, and selecting a joint type from a preset type of joint that meets the design requirements of the actual assembly.

5. The method according to claim 4, characterized in that, Select from the preset types of connectors the connector types that meet the design requirements of the actual assembly, including: In the space of the three-dimensional model, a plane is created on the suction cup adapter axis system, and the angle between the plane on the suction cup adapter axis system and the axis of the main rod is taken as the corresponding connector angle; Based on the corresponding joint angle, select a joint type from the preset joint types that meets the design requirements of the actual assembly.

6. The method according to claim 5, characterized in that, The segments of the main rod and the support rod have a straight line configuration, the segments of the suction cup adapter have a "T" shaped branch configuration, and the segments of the pipe clamp and the main rod connector have a "|" shaped configuration.

7. A device for automatically generating an end effector support structure, characterized in that, include: The determination module is configured to determine the spatial position information of a reference component of the end effector in the three-dimensional model of the end effector, wherein the reference component includes a main rod and a suction cup; The geometric construction module is configured to establish a geometric construction relationship model of auxiliary components connected to the reference component based on the spatial location information, wherein the auxiliary components include a support rod, a pipe clamp, a main rod connector, and a suction cup adapter. The generation module is configured to determine the installation pose of the auxiliary component based on the geometric construction relationship model, and generate the support structure of the end effector based on the installation pose.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 6.

9. A computer device, characterized in that, include: Memory and processor The memory stores computer programs; The processor is configured to execute a computer program stored in the memory, wherein when the computer program is executed, the processor performs the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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