Collaborative device, method, assembly system, electronic device and storage medium

Abstract

The present application relates to the field of coil technology, and provides a collaborative device, method, assembly system, electronic device and storage medium for docking a cylinder with a machine rotating shaft, the device comprising: a base; at least two correction mechanisms, which are arranged on the base at intervals and can move in a first direction, a second direction and a third direction respectively; a support mechanism, the support mechanism is located on the correction mechanism, and the end of the support mechanism away from the correction mechanism is used to support the cylinder; a sensor group, which is installed on the support mechanism, and the sensor assembly is used to detect the directional deviation between the cylinder and the machine rotating shaft. Through the sensor group, the directional deviation between the cylinder and the machine rotating shaft can be accurately measured, and then according to the directional deviation, the correction mechanism is started, and the position of the support mechanism is adjusted in the first direction, the second direction and the third direction to adjust the cylinder. The omnidirectional adjustment in multiple directions corrects the cylinder, which is efficient and accurate in docking.

Description

Technical Field

[0001] The present invention relates to the field of coil technology, and in particular to a collaborative device, method, assembly system, electronic equipment and storage medium. Background Art

[0002] In the textile, papermaking, printing, foil and other industries, coils are often used. For example, when operators are moving coils, they often need to dock the hollow core of the coil with the rotating shaft (or shelf) of the machine to complete the storage and retrieval of the coil; or when operators are winding and unwinding the coil, they need to move the coil to the docking area of ​​the machine and connect it with the rotating shaft of the machine.

[0003] Normally, the docking of the coil core and the rotating shaft of the machine is done manually by a manual power assist device or manually using a small automated device. Since the gap between the hollow coil core of the coil and the rotating shaft of the machine is very small, and the outer surface of the hollow coil core is in the shape of a cylinder, the two ends of the coil need to be independently tested for cylindrical coaxiality with the rotating shaft of the machine, and the position of the coil needs to be corrected according to the coaxiality deviation to achieve the docking condition. Among them, the coaxiality detection is to detect the directional deviation between the axis of the cylindrical coil and the axis of the rotating shaft in multiple directions.

[0004] In the above manual operation, it is difficult to achieve accurate docking because most of the time the docking work can only be completed by relying on the naked eye to identify errors or based on operating experience; and the small-scale automated device is limited by its own precise detection of the cylindrical arc surface on the outer surface of the coil core, and cannot complete the process action continuously and coherently, that is, it cannot measure the coil continuously, which makes the handling and docking of the coil time-consuming and labor-intensive, affecting production efficiency. Summary of the invention

[0005] The main purpose of the present invention is to provide a collaborative device, method, assembly system, electronic equipment and storage medium, which can measure the directional deviation between the cylinder and the rotating axis of the machine and adjust the position of the cylinder to at least overcome the problem that the existing cylinder cannot be accurately docked.

[0006] In a first aspect, the present application provides a coordination device for docking a cylinder body with a rotating shaft of a machine platform, the coordination device comprising:

[0007] Base;

[0008] At least two deviation-correcting mechanisms are arranged on the base at intervals and can move along a first direction, a second direction, and a third direction respectively; wherein the first direction is parallel to the axis of the cylinder, the second direction is perpendicular to the first direction, and the third direction is perpendicular to both the first direction and the second direction;

[0009] A supporting mechanism, wherein the supporting mechanism is located on the deviation-correcting mechanism, and an end of the supporting mechanism away from the deviation-correcting mechanism is used to support the cylinder;

[0010] A sensor assembly, mounted on the support mechanism, the sensor assembly is used to detect the directional deviation between the barrel and the machine table rotation axis;

[0011] The deviation-correcting mechanism is used to drive the supporting mechanism to move along the first direction, the second direction, and the third direction, and adjust the position of the cylinder to compensate for the directional deviation.

[0012] Through the sensor group, the directional deviation between the cylinder and the machine's rotating axis can be accurately measured, and then the correction mechanism is started according to the directional deviation to adjust the position of the support mechanism in the first direction, the second direction, and the third direction to adjust the cylinder. The omnidirectional adjustment in multiple directions can correct the cylinder with high efficiency and precise docking.

[0013] In the collaborative device provided in the present application, the sensor group includes:

[0014] A first laser rangefinder, a second laser rangefinder, and a third laser rangefinder;

[0015] The first laser rangefinder, the second laser rangefinder, and the third laser rangefinder are arranged at equal intervals along the second direction on a side of the support mechanism away from the deviation correction mechanism;

[0016] The second laser rangefinder is used to measure the distance between the laser emission point and the surface of the machine table rotation axis to obtain the second direction deviation;

[0017] The first laser rangefinder and the third laser rangefinder are respectively used to measure the distance between their respective transmitting ends and the surface of the rotating axis of the machine platform to obtain the third direction deviation.

[0018] In the collaborative device provided in the present application, the sensor group further includes: a fourth laser rangefinder;

[0019] The fourth laser rangefinder is arranged at one end of the supporting mechanism away from the correction mechanism and is arranged opposite to the second laser rangefinder, and the center of the second laser rangefinder and the center of the fourth laser rangefinder are on the same straight line. The fourth laser rangefinder is used to measure the distance between its own laser emission point and the surface of the cylinder to obtain the first direction deviation.

[0020] In the collaborative device provided in this application, the deviation correction mechanism includes:

[0021] A first sliding assembly is disposed on a side of the base and is capable of sliding relative to the base along a first direction;

[0022] A second sliding component is disposed on a side of the first sliding component away from the base and is capable of sliding relative to the first sliding component along a second direction;

[0023] The third sliding component is arranged on a side of the second sliding component away from the first sliding component and can slide relative to the second sliding component along a third direction.

[0024] In a second aspect, the present application further provides a collaboration method, which is applied to any of the collaboration devices described above, and the method comprises the following steps:

[0025] Based on the sensor group, obtaining the direction deviation between the barrel and the machine table rotation axis;

[0026] According to the directional deviation and based on the deviation-correcting structure located on the base, the supporting mechanism is driven to move along the first direction, the second direction, and the third direction to adjust the position of the cylinder.

[0027] In the collaborative method provided in the present application, the sensor group includes a first laser rangefinder, a second laser rangefinder, and a third laser rangefinder. The sensor group is used to measure the direction deviation between the barrel and the rotating axis of the machine, including:

[0028] Based on the second laser rangefinder, obtaining a second direction deviation between the barrel and the machine table rotation axis;

[0029] Based on the first laser rangefinder and the third laser rangefinder, the third direction deviation between the barrel and the machine table rotation axis is obtained.

[0030] In the collaborative method provided in the present application, the step of obtaining the third direction deviation between the barrel and the rotating axis of the machine table includes:

[0031] Acquire a first distance between the first laser rangefinder and the third laser rangefinder;

[0032] Obtaining a second distance between the laser emission port of the third laser rangefinder and the cylinder;

[0033] Obtaining an angle value using an inverse trigonometric function according to the first spacing and the second spacing;

[0034] Obtaining the midline length of a triangle, wherein the triangle is formed by: a first contact point between the laser line emitted by the first laser rangefinder and the circumferential side surface of the rotating shaft, a second contact point between the laser line emitted by the third laser rangefinder and the circumferential side surface of the rotating shaft, and the center of the circumferential surface of the rotating shaft;

[0035] The third direction deviation is obtained by trigonometric calculation according to the angle value and the center line length.

[0036] In the collaborative method provided in this application, the method further includes:

[0037] When the second direction deviation in the direction deviation is within a first preset range, obtaining a second direction theoretical value deviation, adjusting the position of the cylinder according to the second direction theoretical value deviation, and correcting the second direction deviation so that the cylinder is docked with the rotating shaft;

[0038] When the third directional deviation in the directional deviation is within a second preset range value, the third directional theoretical value deviation is obtained, and the position of the cylinder is adjusted according to the third directional theoretical value deviation to correct the third directional deviation so that the cylinder is docked with the rotating shaft.

[0039] In the collaborative method provided in the present application, the cylinder structure includes a first end and a second end, and the adjusting the position of the cylinder according to the theoretical value deviation of the third direction to correct the deviation of the third direction includes:

[0040] Periodically collecting the third direction deviation of the first end and the third direction deviation of the second end at a preset time interval;

[0041] Eliminate abnormal values ​​in the third direction deviation set to obtain a valid third direction deviation set for the first end and the second end;

[0042] According to the valid third direction deviation set, calculating the third direction deviation average value of the first end and the third direction deviation average value of the second end, and obtaining the third direction theoretical deviation value of the first end and the third direction theoretical deviation value of the second end;

[0043] According to the theoretical deviation value of the third direction of the first end, the support mechanism is driven to move at least in the third direction to adjust the first end position of the cylinder; according to the theoretical deviation value of the third direction of the second end, the support mechanism is driven to move at least in the third direction to adjust the second end position of the cylinder.

[0044] In a third aspect, the present application also provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the collaborative method as described in any one of the above items are implemented.

[0045] In a fourth aspect, the present application further provides an assembly system, comprising a collaborative device and a machine platform, wherein the collaborative device is used to execute the steps of any of the collaborative methods described above to dock the cylinder with the rotating shaft of the machine platform.

[0046] In a fifth aspect, the present application also provides a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, wherein when the computer program is executed by a processor, the steps of the collaborative method as described in any one of the above items are implemented.

[0047] Compared with the prior art, in a collaborative device provided in the present application, a sensor group can be used to accurately measure the directional deviation between the cylinder and the rotating axis of the machine, and then the correction mechanism is activated according to the directional deviation to adjust the position of the support mechanism in the first direction, the second direction, and the third direction to adjust the cylinder. The omnidirectional adjustment in multiple directions can correct the cylinder with high efficiency and precise docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 A first axonometric schematic diagram of a collaborative device provided in an embodiment of the present application.

[0050] Figure 2 for Figure 1 Schematic diagram of the enlarged structure of part A in the middle.

[0051] Figure 3 A second axonometric schematic diagram of the collaborative device provided in an embodiment of the present application.

[0052] Figure 4 A first axonometric schematic diagram of the cooperation device provided in the embodiment of the present application, the machine platform and the cylinder.

[0053] Figure 5 A second axonometric schematic diagram of the cooperation device provided in the embodiment of the present application, the machine platform and the cylinder.

[0054] Figure 6 Another axonometric schematic diagram of a fixing member in a cooperative device provided in an embodiment of the present application.

[0055] Figure 7 A schematic diagram of the positions of the cylinder, rotating shaft, and sensor group provided in an embodiment of the present application.

[0056] Figure 8 A side view of a rotating shaft and a sensor group provided in an embodiment of the present application.

[0057] Fig. 9 A flowchart of a collaborative method provided for an embodiment of the present application.

[0058] Fig.10 It is a schematic diagram of the structure of an electronic device used to implement the collaborative method in the embodiment of the present application.

[0059] Description of main components and symbols:

[0060] 100, base;

[0061] 200. Correction mechanism;

[0062] 210, first sliding assembly; 211, first supporting plate; 212, first sliding member; 213, first sliding rail; 214, first driving member;

[0063] 220, second sliding assembly; 221, support arm; 222, second slide rail; 223, second sliding member; 224, second support plate; 225, second driving member;

[0064] 230, third sliding assembly; 231, third slide rail; 232, third sliding member; 233, third driving member;

[0065] 300, support mechanism; 310, fixing plate; 320, fixing member; 321, third support plate; 322, cavity; 323, sliding column; 324, extrusion plate;

[0066] 400, measuring component; 410, first laser rangefinder; 420, second laser rangefinder; 430, third laser rangefinder; 440, fourth laser rangefinder.

[0067] 500, machine table; 600, rotating shaft; 700, cylinder. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0069] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0070] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0071] It should be understood that, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first groove and the second groove are only used to distinguish different grooves, and their order is not limited. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit them to be different.

[0072] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0073] The inventors of the present application have found that in the current process of docking coils, manual operation is rather cumbersome and it is difficult to achieve precise docking; and if a small-scale automated device is used, the process actions cannot be completed continuously and coherently, and the coaxiality measurement of the coil core is rather troublesome. In view of this, the present application provides a collaborative device for docking the cylinder body and the rotating axis of the machine.

[0074] See also Figure 1 As shown, Figure 3 , Figure 5 As shown, Figure 1 A first isometric schematic diagram of a collaborative device provided in an embodiment of the present application, Figure 3 A second isometric schematic diagram of the collaborative device provided in an embodiment of the present application, Figure 5 A second isometric diagram of the coordination device provided in the embodiment of the present application in cooperation with the machine platform and the cylinder. The coordination device includes:

[0075] Base 100;

[0076] At least two deviation correcting mechanisms 200 are arranged on the base 100 at intervals and can move along a first direction, a second direction, and a third direction respectively; wherein the first direction is parallel to the axis of the cylinder 700, the second direction is perpendicular to the first direction, and the third direction is perpendicular to both the first direction and the second direction;

[0077] A supporting mechanism 300, the supporting mechanism 300 is located on the deviation correcting mechanism 200, and one end of the supporting mechanism 300 away from the deviation correcting mechanism 200 is used to support the cylinder 700;

[0078] A sensor assembly, mounted on the support mechanism 300, the sensor assembly is used to detect the directional deviation between the barrel 700 and the rotating shaft 600 of the machine platform 500;

[0079] The deviation-correcting mechanism 200 is used to drive the supporting mechanism 300 to move along the first direction, the second direction, and the third direction, and adjust the position of the cylinder 700 to compensate for the directional deviation.

[0080] Through the sensor group, the directional deviation between the barrel 700 and the rotating shaft 600 of the machine 500 can be accurately measured, and then according to the directional deviation, the correction mechanism 200 is activated to adjust the position of the support mechanism 300 in the first direction, the second direction, and the third direction to adjust the position of the barrel 700. Compared with the existing barrel adjustment method, the present application can adjust and correct the position of the barrel 700 in multiple directions, with higher adjustment efficiency and more accurate docking. The correction mechanism 200 can also enable the measuring component 400 to continuously measure the directional deviation of the barrel 700.

[0081] In the embodiment of the present application, the base 100 mainly plays the role of supporting the cooperative device. The shape of the base 100 can be determined according to actual conditions, for example, it can be a cube structure.

[0082] In addition, a storage space can be further provided inside the base 100, and employees can place some equipment, electric control box controllers, etc. needed for work in the storage space. The electric control box is equipped with a controller, and the correction mechanism 200 can be controlled by the controller.

[0083] The inventor of the present application found that employees often need to move the collaborative device to the destination. This is because most normal manufacturers have multiple production workshops, and when one production workshop uses the collaborative device, another one may also need to use the collaborative device; in this case, the collaborative device needs to be moved to the destination.

[0084] In view of this, as a preferred solution of the embodiment of the present application, at least four or more rollers can be connected by bolts around the base 100. Under the action of the rollers, the user can easily push the cooperative device.

[0085] Furthermore, the roller can be a universal wheel with a brake device. The setting of the universal wheel makes it easier for the user to move the coordination device. In this way, when the user moves the docking device to the working area, the user can step on the brake device to fix the coordination device.

[0086] See also Figure 2 , Figure 4 As shown, Figure 2 for Figure 1 The enlarged structural diagram of the middle A part, Figure 4 The first isometric diagram of the cooperation device provided in the embodiment of the present application, the machine platform and the cylinder. In order to facilitate accurate docking of the cylinder 700 and improve work efficiency, it is necessary to measure the direction deviation as quickly and accurately as possible. In view of this, in the embodiment of the present application, the sensor group may include a first laser rangefinder 410, a second laser rangefinder 420, and a third laser rangefinder 430.

[0087] The first laser rangefinder 410, the second laser rangefinder 420, and the third laser rangefinder 430 can be arranged at equal intervals along the second direction on the side of the support mechanism 300 away from the correction mechanism 200, and the specific arrangement method can be screwed or pasted. And the transmitting end of the first laser rangefinder 410, the transmitting end of the second laser rangefinder 420, and the transmitting end of the third laser rangefinder 430 are all facing the rotating shaft 600.

[0088] See also Figure 7 As shown, Figure 7 A schematic diagram of the positions of the cylinder, rotating shaft, and sensor group provided in an embodiment of the present application.

[0089] The first laser rangefinder 410 and the third laser rangefinder 430 are used to measure the distance between their respective transmitting ends and the surface of the rotating shaft 600, and send the distance to the controller. The controller calculates the third direction deviation according to the received distance signal according to the built-in operating program.

[0090] The second laser rangefinder 420 is used to measure the distance between the laser emission point and the surface of the rotating axis 600 of the machine 500, and send it to the controller. The controller will also calculate and obtain the second direction deviation according to the built-in operating program based on the distance signal sent by the second laser rangefinder 420.

[0091] Of course, it should be noted that each laser rangefinder can be purchased directly from the market, and its specific model is not limited here. The distance signal measured by the laser rangefinder can also be sent to the controller.

[0092] In addition, the sensor group may further include a fourth laser rangefinder 440 .

[0093] The fourth laser rangefinder 440 can be set at one end of the support mechanism 300 away from the correction mechanism 200 by pasting or screwing, and is arranged opposite to the second laser rangefinder 420, and the center of the second laser rangefinder 420 and the center of the fourth laser rangefinder 440 are on the same straight line, that is, the center of the second laser rangefinder 420 and the straight line where the fourth laser rangefinder 440 is located are parallel to the first direction. The fourth laser rangefinder 440 is used to measure the distance between its own transmitting end and the surface of the cylinder 700, and send it to the controller. After receiving the distance signal measured by the fourth laser rangefinder 440, the controller can calculate the first direction deviation through the built-in program.

[0094] In the above scheme, the transmitting ends of the first laser rangefinder 410, the second laser rangefinder 420, and the third laser rangefinder 430 respectively emit lasers to the rotation axis 600 of the machine platform 500, thereby measuring the distance between the first laser rangefinder 410, the second laser rangefinder 420, and the third laser rangefinder 430 and the rotation axis 600 of the machine platform 500.

[0095] The inventor of the present application has found through research that when docking the cylinder 700, it is often necessary to adjust the position of the cylinder 700 in multiple directions respectively, so as to improve the efficiency of the cylinder docking. In view of this, in the embodiment of the present application, see Figure 3 As shown, Figure 4 As shown, the deviation correcting mechanism 200 includes: a first sliding assembly 210 , a second sliding assembly 220 , and a third sliding assembly 230 .

[0096] Among them, the first sliding component 210 can be arranged on the base 100 and can slide relative to the base 100 along a first direction; the second sliding component 220 can be arranged on the side of the first sliding component 210 away from the base 100, and can slide relative to the first sliding component 210 along a second direction; the third sliding component 230 is arranged on the side of the second sliding component 220 away from the first sliding component 210, and can slide relative to the second sliding component 220 along a third direction.

[0097] In order to facilitate understanding of how the first sliding assembly 210 , the second sliding assembly 220 , and the third sliding assembly 230 move in the first direction, the second direction, and the third direction, a detailed description is given below.

[0098] The first sliding assembly 210 may include: a first supporting plate 211 , a first sliding member 212 , a first sliding rail 213 , and a first driving member 214 .

[0099] The shape of the first support plate 211 can be determined according to actual conditions, and is preferably a rectangular plate in the embodiment of the present application.

[0100] The first sliding member 212 is connected to the side surface of the first supporting plate 211 close to the base 100 by bolts or welding.

[0101] The first sliding member 212 may include a first limiting plate, a sliding plate, and a second limiting plate. The first limiting plate and the second limiting plate are arranged opposite to each other and connected to each other through the sliding plate, thereby forming an inverted "concave" shape.

[0102] The first slide rail 213 can be arranged on the side of the base 100 close to the sliding assembly (ie, the side of the base 100 away from the ground) by bolts or welding. In addition, the first slide rail 213 is slidably connected to the first sliding member 212 .

[0103] When the first sliding member 212 slides on the first sliding rail 213, the sliding plate fits tightly against the first sliding rail 213 and moves relative to the first sliding rail 213. The first limiting plate and the second limiting plate on both sides can play a certain limiting role to ensure that the first sliding member 212 can move linearly along the first sliding rail 213.

[0104] The fixing seat of the first driving member 214 can be arranged on the side of the base 100 close to the sliding assembly by bolts. The first driving member 214 can be a hydraulic cylinder or a telescopic rod.

[0105] In the embodiment of the present application, the first driving member 214 is preferably a hydraulic cylinder, and is connected to the controller via a wire, and the operation of the hydraulic cylinder can be controlled by the controller.

[0106] When the first driving member 214 is started, the first driving member 214 can drive the first sliding member 212 to slide on the first slide rail 213. At the same time, the first slide rail 213 is connected to the first support plate 211, so the first sliding member 212 can drive the first support plate 211 to move along the first direction.

[0107] Furthermore, the second sliding assembly 220 may include a second driving member 225 , a second supporting plate 224 , a second sliding member 223 , a supporting arm 221 , and a second sliding rail 222 .

[0108] The fixing seat of the second driving member 225 and the side of the first supporting plate 211 away from the base 100 can be connected by bolts or welding. The second driving member 225 can be a hydraulic cylinder, a telescopic rod or a linear motor.

[0109] In the embodiment of the present application, the second driving member 225 is preferably a hydraulic cylinder, and is connected to the controller via a wire, and the operation of the hydraulic cylinder can be controlled by the controller.

[0110] The side surface of the second support plate 224 close to the base 100 can be connected to the telescopic end of the second driving member 225 by bolts. When the second driving member 225 is working, it can drive the second support plate 224 to reciprocate along the second direction.

[0111] In addition, the shape of the second support plate 224 can be selected according to actual conditions. In the embodiment of the present application, it is preferably a rectangular plate, and the second support plate 224 and the first support plate 211 can be perpendicular to each other.

[0112] The second sliding member 223 may be connected to a first side surface of the second supporting plate 224 by bolts or welding, and the first side surface intersects with a side surface of the base 100 close to the first sliding assembly 210 .

[0113] The support arm 221 is connected to the side surface of the first sliding assembly 210 away from the base 100 , and the support arm 221 has a second side surface parallel to the first side surface.

[0114] The second slide rail 222 is slidably connected to the second sliding member 223 , and the second slide rail 222 can be connected to the second side surface of the support arm 221 by bolts or welding.

[0115] The structure of the second sliding member 223 is similar to that of the first sliding member 212 , and will not be described in detail herein.

[0116] Furthermore, the third sliding assembly 230 may include: a third sliding rail 231 , a third sliding member 232 , and a third driving member 233 .

[0117] The third slide rail 231 may be disposed on the side of the second support plate 224 away from the first support plate 211 by means of bolts or welding.

[0118] The third sliding member 232 is slidably connected to the third slide rail 231, and the third slide rail 231 also supports the third sliding member 232. The structure of the third sliding member 232 is similar to that of the first sliding member 212, so the structure of the third sliding member 232 will not be described in detail here.

[0119] The fixing seat of the third driving member 233 can be arranged on the support arm 221 of the first sliding assembly 210 and / or the second support plate 224 of the second sliding assembly 220 by bolts or screws, and the telescopic end of the third driving member 233 is connected to the third sliding member 232. The third driving member 233 can be a hydraulic cylinder, a telescopic rod or a linear motor.

[0120] In the embodiment of the present application, the third driving member 233 is preferably a hydraulic cylinder, and is connected to the controller via a wire, and the operation of the hydraulic cylinder can be controlled by the controller.

[0121] When the third driving member 233 is working, the third sliding member 232 can be driven to move linearly along the third slide rail 231 , and the movement direction is consistent with the third direction.

[0122] In the above scheme, the third direction deviation can be obtained by the first laser rangefinder 410 and the third laser rangefinder 430; the second direction deviation can be obtained by the second laser rangefinder 420; and the first direction deviation can be obtained by the fourth sensor. Then the controller determines whether the third direction deviation, the second direction deviation, and the first direction deviation are within the deviation range. If not, the controller controls the deviation correction mechanism 200 to adjust the position of the same body.

[0123] The controller controls the first driving member 214 to operate, so that the first support plate 211 can reciprocate along the first direction, so that the position of the cylinder 700 can be adjusted in the first direction; the controller controls the second driving member 225 to operate, so that the second support plate 224 can move along the second direction, so that the position of the cylinder 700 can be adjusted in the second direction; the controller controls the third driving member 233 to operate, so that the third slide rail 231 can be driven to move in the third direction. The third slide rail 231 is connected to the support mechanism 300, so that the position of the cylinder 700 can be adjusted in the third direction.

[0124] In summary, the collaborative device of the present application can fully solve the problem of automatic detection and correction of the cylindrical barrel 700 during the process of mutual docking and fitting.

[0125] In addition, the inventor of the present application has also found that when workers push the coordination device, they always habitually push the correction device by hand. Figure 1 For example, the worker tends to stand on the left or right side of the cylinder 700 to push the second support plate 224 in the sliding assembly. This is because the base 100 is relatively short, and the height of the second support plate 224 in the sliding assembly makes it easier for the worker to push the entire collaborative device. In this case, there may be a visual blind spot.

[0126] In view of this, in the embodiment of the present application, a plurality of through holes can be opened on the second support plate 224. Through the setting, the user can avoid observing the scene in front through the through holes when pushing the collaborative device, avoiding collision with others, and improving the overall safety performance of the device.

[0127] Of course, too many through holes cannot be provided, because the structural strength of the entire second support plate 224 will be reduced.

[0128] In order to facilitate the support of the cylinder 700 structure, in the embodiment of the present application, see Figure 3 As shown, the supporting mechanism 300 includes a fixing plate 310 and a fixing member 320 .

[0129] The fixing plate 310 can be arranged on the side of the correction mechanism 200 away from the base 100 by means of bolts or screws; and the first laser rangefinder 410, the second laser rangefinder 420, the third laser rangefinder 430, and the fourth laser rangefinder 440 can be connected to the top of the fixing plate 310 by means of bonding or bolts. The first laser rangefinder 410, the second laser rangefinder 420, and the third laser rangefinder 430 are arranged on the fixing plate 310 at equal intervals along the second direction, and the first laser rangefinder 410, the second laser rangefinder 420, and the third laser rangefinder 430 are facing the peripheral side of the rotating shaft 600. The fourth laser rangefinder 440 can also be installed on the fixing plate 310, and is arranged opposite to the second laser rangefinder 420, and the fourth laser rangefinder 440 is facing the peripheral side of the cylinder 700.

[0130] The fixing member 320 may be disposed on a side of the fixing plate 310 away from the deviation correcting mechanism 200 , and the side of the fixing member 320 away from the fixing plate 310 is used to support the cylinder 700 .

[0131] In one embodiment of the present application, the fixing member 320 may include a plate-like structure with a slot, and the slot is used to support the cylinder 700 .

[0132] Specifically, the bottom of the notch may be an arc-shaped structure, which can better support the cylinder 700 .

[0133] The inventor of the present application also found that when the collaborative device is moved, the cylinder 700 may move up and down because the road surface is not flat enough. In this case, there is a risk that the cylinder 700 will fall to the ground. In view of this, in another embodiment of the present application, see Figure 6 As shown, Figure 6 Another isometric schematic diagram of a fixing member in a cooperative device provided in an embodiment of the present application, wherein the fixing member 320 may include a third support plate 321, at least one pair of sliding cylinders 323, at least one pair of extrusion plates 324, and a connecting member.

[0134] The third support plate 321 can be bolted or welded to the side of the fixing plate 310 away from the correction mechanism 200, and the side of the third support plate 321 away from the fixing plate 310 is open to form a cavity 322. Figure 6 Taking the perspective of as an example, the top-down direction is the top view, and the top view of the cavity 322 is a rectangle.

[0135] At least one pair of sliding cylinders 323, wherein the first ends of the sliding cylinders 323 are located in the cavity 322 and are slidably connected to the inner wall of the cavity 322;

[0136] At least one pair of extrusion plates 324 can be respectively connected to the second end of the sliding column 323 by bolts or welding;

[0137] The retractable connecting member is connected to the sliding column 323 or the extrusion plate 324 and is used to bring adjacent extrusion plates 324 closer to each other.

[0138] The telescopic member may be a spring, which may be located in the cavity 322, and the two ends of the spring are respectively connected to a pair of sliding cylinders 323. When the spring is in a natural state, the distance between the two extrusion plates 324 connected to the pair of sliding cylinders 323 is smaller than the outer diameter of the cylinder 700.

[0139] At this time, when the employee places the cylinder 700 between the two squeezing plates 324, under the action of the spring, the squeezing plates 324 on both sides can squeeze the cylinder 700. The cylinder 700 is subjected to the squeezing force and will not move up and down easily. In this case, the safety of the mobile coordination device will be higher.

[0140] In addition, the telescopic member can also be a telescopic rod. The fixing seat of the telescopic rod can be set on the third support plate 321, and the telescopic end is connected to the extrusion plate 324. The sliding column 323 connected to the extrusion plate 324 can slide in the cavity 322. The telescopic rod can drive the extrusion plate 324 to move closer to or away from another extrusion plate 324. In this case, the sliding column 323 connected to another extrusion plate 324 can be fixed inside the cavity 322 by bolts or welding.

[0141] The telescopic rod works to drive one extrusion plate 324 to move closer to or away from another extrusion plate 324. In this case, the distance between the two extrusion plates 324 and the force applied to the outer surface of the cylinder 700 can be accurately controlled, and cylinders 700 of different sizes can be better stabilized to ensure that the cylinder 700 does not move up and down and fall to the ground, with higher safety performance.

[0142] The present application also provides a collaborative method, which is applied to the collaborative device in the above embodiment. Fig. 9 As shown, Fig. 9 A flowchart of a collaborative method provided in an embodiment of the present application, the method may include the following steps:

[0143] S100, based on the sensor group, obtaining the direction deviation between the barrel 700 and the rotating axis 600 of the machine platform 500;

[0144] S200 , according to the direction deviation and based on the deviation correction structure located on the base 100 , drive the support mechanism 300 to move along the first direction, the second direction, and the third direction to adjust the position of the cylinder 700 .

[0145] The direction deviation between the barrel 700 and the rotating shaft 600 of the machine platform 500 is obtained, which specifically includes the following steps:

[0146] S101 , obtaining a third direction deviation between the barrel 700 and the rotation axis 600 of the platform 500 based on the first laser rangefinder 410 and the third laser rangefinder 430 .

[0147] Specifically, step S101 includes:

[0148] Acquire a first distance between the first laser rangefinder 410 and the third laser rangefinder 430;

[0149] Obtaining a second distance between the laser emission port of the third laser rangefinder 430 and the cylinder 700;

[0150] Obtaining an angle value using an inverse trigonometric function according to the first spacing and the second spacing;

[0151] Obtaining the midline length of a triangle, wherein the triangle is formed by: a first contact point between the laser line emitted by the first laser rangefinder 410 and the peripheral side surface of the rotating shaft 600, a second contact point between the laser line emitted by the third laser rangefinder 430 and the peripheral side surface of the rotating shaft 600, and the center of the circumferential surface of the rotating shaft 600;

[0152] The third direction deviation is calculated using trigonometric functions based on the angle value and the length of the center line.

[0153] To understand the calculation method of the third direction angle, see Figure 8 For detailed explanation:

[0154] The first laser rangefinder 410, the second laser rangefinder 420, the third laser rangefinder 430, and the fourth laser rangefinder 440 are installed in advance. Figure 8 The distance L between the first laser rangefinder 410 and the second laser rangefinder 420 is b is the installation distance, known and accurate.

[0155] The point where the laser emitted by the first laser rangefinder 410 contacts the outer surface of the rotating shaft 600 is A, the point where the laser emitted by the third laser rangefinder 430 contacts the outer surface of the rotating shaft 600 is C, and the center of the circumferential interface of the rotating shaft 600 is O, so OAC can form a triangle at this time. And the straight line where point Q and point C are located, and the line segment L b The straight lines are parallel to each other, and it can be seen that the distance L between point Q and point C QC , and L b equal.

[0156] The specific calculation steps are as follows:

[0157] (1) In the triangle AQC formed by points A, Q, and C, ∠ACQ is β1, and line segment OF is perpendicular to side AC. The distance between points A and Q is AQ, where L c =L; L can be measured by the third laser rangefinder 430 C .

[0158] So tan(β1)=L c / L QC , we can calculate β1=arctan(L c / L QC ).

[0159] (2) Figure 8 In the figure, triangle OFG and triangle CNG are similar triangles, so β1 = β2. c and L b , we can infer that the distance between points A and C is L AC In this case, because L AF =L FC , so we can calculate L AF , L FC .

[0160] (3) Triangle AF0 is a right triangle. OA and L AF , we can deduce L OF .

[0161] (4)L FR = sin(β1)x L OF ;

[0162] Among them, L FR That is, the deviation value L in the X direction is required 偏差X Since the X direction is the third direction, the deviation in the third direction can be obtained.

[0163] S102, through the second laser rangefinder 420, the shortest distance between the transmitting end of the second laser rangefinder 420 and the side of the rotating shaft 600 can be obtained to obtain the Z direction deviation value L 偏差Z , that is, the second direction deviation is obtained.

[0164] S103, the distance between the end of the transmitting end of the fourth laser rangefinder 440 and the side of the reel can be measured by means of an independent external fourth laser rangefinder 440 to obtain a first direction deviation.

[0165] Furthermore, the cylinder 700 control method may also include:

[0166] S300, when the second direction deviation in the direction deviation is within the first preset range, obtaining the second direction theoretical value deviation, adjusting the position of the cylinder 700 according to the second direction theoretical value deviation, and correcting the second direction deviation so that the cylinder 700 can be docked with the rotating shaft 600;

[0167] When the third directional deviation in the directional deviation is within the second preset range, the third directional theoretical value deviation is obtained, and the position of the cylinder 700 is adjusted according to the third directional theoretical value deviation to correct the third directional deviation so that the cylinder 700 can dock with the rotating shaft 600.

[0168] It should be emphasized that the first preset range value and the second preset range value can be set in advance.

[0169] For ease of understanding of this step, the first preset range value is taken as an example below, and the first preset range value includes a smaller endpoint value and a larger endpoint value. Among them, when the second direction deviation is less than or equal to the smaller endpoint value, it means that there is no need to adjust the position of the cylinder 700. If the second direction deviation is greater than or equal to the larger endpoint value, it means that the direction deviation is large at this time, and it is impossible to dock the cylinder 700 with the rotating shaft 600 by relying on the cooperative device.

[0170] Therefore, at this time, an alarm device, such as an alarm or an alarm light, can also be set on the base 100. When the second direction deviation is greater than the larger endpoint value of the first preset range value, the control alarm device can be alarmed to alert employees.

[0171] It can be understood that the process of comparing and judging the third direction deviation with the two endpoint values ​​of the second preset range value is the same as the above-mentioned comparison and judgment process, so it will not be repeated here.

[0172] When the deviation in the second direction is within the first preset range, it means that the deviation in the second direction is small, and the cylinder 700 cannot dock with the rotating shaft 600, but the deviation in this direction can be adjusted by relying on the coordination device. The controller in the coordination device can control the second driving member 225 to work, drive the second supporting plate 224 to move in the second direction, and adjust the deviation of the cylinder 700 in the second direction.

[0173] When the deviation in the third direction is within the second preset range, it means that the deviation in the third direction is small, and the cylinder 700 cannot dock with the rotating shaft 600, and the deviation in this direction can be adjusted by relying on the cooperative device. The controller in the cooperative device can control the third driving member 233 to work, drive the third sliding member 232 to move in the third direction, and adjust the deviation of the cylinder 700 in the third direction.

[0174] The inventor of the present application also found that during the docking process of the cylinder 700, if the direction deviation between the two ends of the cylinder 700 and the rotating shaft 600 is sufficiently small, the docking efficiency will be greatly improved. Therefore, it is only necessary to detect the two ends of the cylinder 700. In view of this, in the embodiment of the present application, the cylinder 700 structure includes a first end and a second end, and according to the deviation of the third direction theoretical value, the position of the cylinder 700 is adjusted to correct the deviation in the third direction, including:

[0175] The third direction deviation of the first end and the third direction deviation of the second end are periodically collected at preset intervals; wherein the preset time can be determined according to actual conditions, for example, it can be 0.01min, 0.05min, etc.

[0176] Eliminate the abnormal values ​​in the third direction deviation set to obtain the effective third direction deviation set of the first end and the second end; wherein, the method of eliminating the abnormal values ​​can be: preset a regular deviation range, if the third direction deviation is not within the deviation range, the controller or system can automatically delete the third direction deviation.

[0177] According to the effective third direction deviation set, the average value of the third direction deviation at the first end and the average value of the third direction deviation at the second end are calculated to obtain the third direction theoretical deviation value at the first end and the third direction theoretical deviation value at the second end; wherein, the third direction deviation in the effective third direction deviation set is averaged to obtain the third direction theoretical deviation value.

[0178] Taking into account the influence of feeding, transportation, workshop environment, etc., the cylinder may vibrate. Therefore, the above scheme collects the third direction deviation of the first end and the third direction deviation of the second end multiple times, eliminates the abnormal values, and then calculates the average value. The deviation value obtained at this time will be closest to the true value, and the measurement result will be more accurate.

[0179] According to the theoretical deviation value of the third direction at the first end, the support mechanism 300 is driven to move at least in the third direction to adjust the first end position of the cylinder 700; according to the theoretical deviation value of the third direction at the second end, the support mechanism 300 is driven to move at least in the third direction to adjust the second end position of the cylinder 700.

[0180] The movement interval of the driving support mechanism 300 may be: the difference between the theoretical deviation value in the third direction and the smaller endpoint value of the second preset range value.

[0181] Of course, when the second direction deviation is greater than the larger endpoint value of the first preset range, no further elaboration will be given here.

[0182] Furthermore, after adjusting the cylinder 700, the method may also include: obtaining the direction deviation of the first end and the direction deviation of the second end of the cylinder 700, and determining whether the direction deviation of the first end and the direction deviation of the second end are smaller than the smaller endpoint value of the corresponding preset range value.

[0183] For example, after adjusting the position of the barrel 700 by the above adjustment method, the third directional deviation of the first end of the barrel 700 is continuously obtained. When the third directional deviation is still greater than the smaller endpoint value of the second preset range value (and should also be less than the larger endpoint value of the second preset range value), it means that the barrel 700 still cannot dock with the rotating shaft 600 at this time, so the position of the barrel 700 is continuously adjusted by step S300. When the third directional deviation of the first end of the barrel 700 is less than the smaller endpoint value of the second preset range value, it means that the barrel 700 can dock with the rotating shaft 600 at this time, and there is no need to adjust the position of the barrel 700.

[0184] In addition, an embodiment of the present application further provides an assembly system, including a coordination device and a machine platform, wherein the coordination device is used to execute the steps of the above coordination method to dock the cylinder with the rotating shaft of the machine platform.

[0185] The present application also provides an electronic device, see Fig.10 As shown, Fig.10 Schematic diagram of the structure of the electronic device for implementing the collaborative method in the embodiment of the present application. The electronic device 90 may include a processor (CPU, GPU, FPGA, etc.) 901, which can perform part or all of the processing in the embodiment shown in the above figures according to the program stored in the read-only memory (ROM) 902 or the program loaded from the storage part 908 to the random access memory (RAM) 903. In RAM903, various programs and data required for system operation are also stored. The processor 901, ROM902 and RAM903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0186] The following components are connected to the I / O interface 905: an input section 906 including a keyboard, a mouse, etc.; an output section 907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN card, a modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as needed, so that a computer program read therefrom is installed into the storage section 908 as needed.

[0187] In particular, according to an embodiment of the present application, the method described above with reference to the accompanying drawings can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program tangibly contained on a readable medium, and the computer program includes a program code for executing the method in the accompanying drawings. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 909, and / or installed from the removable medium 911.

[0188] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the road map or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0189] The units or modules involved in the embodiments described in this application may be implemented by software or hardware. The units or modules described may also be set in a processor, and the names of these units or modules do not constitute limitations on the units or modules themselves in some cases.

[0190] As another aspect, the present application further provides a computer-readable storage medium, which may be the computer-readable storage medium included in the screen projection device in the above-mentioned embodiment; or may be a computer-readable storage medium that exists independently and is not assembled into the device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the collaborative method described in the present application.

[0191] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0192] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A collaborative device, characterized in that: Used to connect the cylinder body and the rotating shaft of the machine, the coordination device includes: A base, wherein at least four rollers are connected by bolts around the base; At least two deviation-correcting mechanisms are arranged on the base at intervals and can move along a first direction, a second direction, and a third direction respectively; wherein the first direction is parallel to the axis of the cylinder, the second direction is perpendicular to the first direction, and the third direction is perpendicular to both the first direction and the second direction; A supporting mechanism, wherein the supporting mechanism is located on the deviation-correcting mechanism, and an end of the supporting mechanism away from the deviation-correcting mechanism is used to support the cylinder; A sensor assembly, mounted on the support mechanism, the sensor assembly is used to detect the directional deviation between the barrel and the machine table rotation axis; The sensor group includes a first laser rangefinder, a second laser rangefinder, and a third laser rangefinder; Wherein, the deviation correction mechanism is used to drive the support mechanism to move along the first direction, the second direction, and the third direction, and adjust the position of the cylinder to compensate for the directional deviation; The first laser rangefinder, the second laser rangefinder, and the third laser rangefinder are arranged at equal intervals along the third direction on a side of the support mechanism away from the deviation correction mechanism; The second laser rangefinder is used to measure the distance between the laser emission point and the surface of the machine table rotation axis to obtain the second direction deviation; The first laser rangefinder and the third laser rangefinder are respectively used to measure the distance between their respective transmitting ends and the surface of the rotating axis of the machine platform to obtain the third direction deviation.

2. The collaborative device according to claim 1, characterized in that: The sensor group also includes: a fourth laser rangefinder; The fourth laser rangefinder is arranged at one end of the supporting mechanism away from the correction mechanism and is arranged opposite to the second laser rangefinder, and the center of the second laser rangefinder and the center of the fourth laser rangefinder are on the same straight line. The fourth laser rangefinder is used to measure the distance between its own laser emission point and the surface of the cylinder to obtain the first direction deviation.

3. The collaborative device according to any one of claims 1 to 2, characterized in that: The deviation correction mechanism comprises: A first sliding assembly is disposed on the base and is capable of sliding relative to the base along a first direction; A second sliding component is disposed on a side of the first sliding component away from the base and is capable of sliding relative to the first sliding component along a second direction; The third sliding component is arranged on a side of the second sliding component away from the first sliding component and can slide relative to the second sliding component along a third direction.

4. A collaborative method, characterized in that: Applied to the collaborative device according to any one of claims 1 to 3, the method comprises the following steps: Based on the sensor group, obtaining the direction deviation between the barrel and the machine table rotation axis; According to the directional deviation and based on the deviation-correcting structure located on the base, the supporting mechanism is driven to move along the first direction, the second direction, and the third direction to adjust the position of the cylinder.

5. The collaborative method according to claim 4, characterized in that: The sensor group includes a first laser rangefinder, a second laser rangefinder, and a third laser rangefinder. Based on the sensor group, the direction deviation between the cylinder and the rotating axis of the machine table is measured, including: Based on the second laser rangefinder, obtaining a second direction deviation between the barrel and the machine table rotation axis; Based on the first laser rangefinder and the third laser rangefinder, the third direction deviation between the barrel and the machine table rotation axis is obtained.

6. The collaborative method according to claim 5, characterized in that: The obtaining of the third direction deviation between the barrel and the machine table rotation axis includes: Acquire a first distance between the first laser rangefinder and the third laser rangefinder; Obtaining a second distance between the laser emission port of the third laser rangefinder and the cylinder; Obtaining an angle value using an inverse trigonometric function according to the first spacing and the second spacing; Obtaining the midline length of a triangle, wherein the triangle is formed by: a first contact point between the laser line emitted by the first laser rangefinder and the circumferential side surface of the rotating shaft, a second contact point between the laser line emitted by the third laser rangefinder and the circumferential side surface of the rotating shaft, and the center of the circumferential surface of the rotating shaft; The third direction deviation is obtained by trigonometric calculation according to the angle value and the center line length.

7. The collaborative method according to any one of claims 4 to 6, characterized in that: The method further comprises: When the second direction deviation in the direction deviation is within a first preset range, obtaining a second direction theoretical value deviation, adjusting the position of the cylinder according to the second direction theoretical value deviation, and correcting the second direction deviation so that the cylinder is docked with the rotating shaft; When the third directional deviation in the directional deviation is within a second preset range value, the third directional theoretical value deviation is obtained, and the position of the cylinder is adjusted according to the third directional theoretical value deviation to correct the third directional deviation so that the cylinder is docked with the rotating shaft.

8. The collaborative method according to claim 7, characterized in that: The cylinder structure includes a first end and a second end. The method of adjusting the position of the cylinder according to the theoretical value deviation of the third direction to correct the deviation of the third direction includes: Periodically collecting the third direction deviation of the first end and the third direction deviation of the second end at a preset time interval; Eliminate abnormal values ​​in the third direction deviation set to obtain a valid third direction deviation set for the first end and the second end; According to the valid third direction deviation set, calculating the third direction deviation average value of the first end and the third direction deviation average value of the second end, and obtaining the third direction theoretical deviation value of the first end and the third direction theoretical deviation value of the second end; According to the theoretical deviation value of the third direction of the first end, the support mechanism is driven to move at least in the third direction to adjust the first end position of the cylinder; according to the theoretical deviation value of the third direction of the second end, the support mechanism is driven to move at least in the third direction to adjust the second end position of the cylinder.

9. An electronic device, characterized in that: The electronic device comprises a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the collaborative method as claimed in any one of claims 4 to 8 are implemented.

10. An assembly system, characterized in that: It comprises a coordination device and a machine platform, wherein the coordination device is used to execute the steps of the coordination method described in any one of claims 4 to 8 to dock the cylinder with the rotating shaft of the machine platform.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the collaborative method according to any one of claims 4 to 8 are implemented.

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