An engine assembly process optimization system

Abstract

The application relates to the technical field of engine digital assembly, and discloses an engine assembly process optimization system which comprises an assembly feature extraction module, an assembly planning module, a part transfer wear model establishment module, an assembly analysis module, an assembly workshop information acquisition module and an assembly correction module. The assembly feature extraction module extracts assembly information from the three-dimensional model of a part, simultaneously obtains the tolerance analysis information between parts, and establishes an assembly planning model based on the extracted assembly planning information through the assembly planning module, so that the assembly sequence and the assembly path are obtained, the optimal assembly of parts with different sizes is achieved, the assembly tolerance problem between the remanufactured parts and the original parts of the engine is avoided, and the assembly accuracy is improved.

Description

Technical Field

[0001] This invention relates to the field of digital engine assembly technology, specifically to an engine assembly process optimization system. Background Technology

[0002] Digital assembly technology refers to the use of digital reality technology, computer graphics, artificial intelligence, and simulation technology to construct a digital reality environment and assembly digital model. During equipment assembly, through interactive analysis, planning, simulation, and optimization of the assembly sequence, assembly path, assembly accuracy, and assembly performance, it effectively reduces the number of physical trial assemblies and improves the quality, efficiency, and reliability of equipment assembly. Adopting this technology can overcome the shortcomings of traditional assembly processes and is of great significance for shortening assembly time, reducing assembly costs, and improving assembly quality.

[0003] After a period of use, the dimensions of parts may become out of tolerance. For example, the cylinder bore of an engine may increase while the piston that originally matched it becomes smaller. Remanufacturing can repair this by matching large-diameter pistons to large-diameter cylinders and small-diameter pistons to small-diameter cylinders. However, using a large piston with a small one will result in excessive clearance. Therefore, during the assembly of remanufactured engine parts, it is necessary to select the appropriate dimensions of the repaired parts based on the current dimensions of the engine components and assemble them appropriately to improve assembly accuracy, especially for the piston and cylinder assembly. As core engine components, the accuracy of piston and cylinder assembly directly affects engine performance. Furthermore, parts are typically only measured upon arrival at the warehouse, neglecting the normal collisions and wear during transport from the warehouse to the assembly workshop. This leads to an excessively large range of parts to choose from when assembling them based on the initial warehouse dimensions. If the actual dimensions of each part were checked again before assembly and the parts were assembled using these new dimensions, it would waste a significant amount of time and reduce assembly efficiency. Summary of the Invention

[0004] In view of the shortcomings of existing engine assembly systems mentioned in the background art during use, the present invention provides an engine assembly process optimization system, which has the advantages of pre-considering the transfer wear of parts, narrowing the range of parts selection, and improving the accuracy of parts selection, thus solving the problems mentioned in the background art.

[0005] This invention provides the following technical solution: an engine assembly process optimization system, comprising:

[0006] Assembly feature extraction module: Extracts assembly information of engine components based on the three-dimensional model of the engine. The assembly information includes assembly planning information and tolerance analysis information.

[0007] Assembly planning module: An assembly planning model is established based on the assembly planning information extracted by the assembly feature extraction module; the assembly planning includes assembly sequence planning and assembly path planning, and the assembly planning model adopts the ant colony algorithm;

[0008] Component transfer wear model establishment module: Based on the BP neural network algorithm, a wear model is established for the assembly location of each component from the warehouse to the assembly workshop to obtain probabilistic wear data during the component transfer process;

[0009] Assembly Analysis Module: Generates a dimension chain based on the tolerance analysis information extracted by the assembly feature extraction module. Combines multiple closed loops according to the dimension chain and the actual dimensions and probabilistic wear data detected when the parts are put into storage. Then, it filters the closed loops that meet the requirements and marks the size range of the parts in the closed loop and the set of parts in the closed loop.

[0010] Assembly workshop information acquisition module: Before assembly, the parts to be assembled are inspected to obtain actual wear data, and the wear data of the parts before assembly is input into the assembly correction module;

[0011] Assembly Correction Module: Based on the size range of each component in the assembly analysis module and the actual size of the component after wear, it determines whether the actual size of the component after wear is within the size range of the component. If so, assembly is performed; otherwise, the actual size of the component after wear is input into the assembly analysis module.

[0012] Preferably, the component transfer wear model is established based on the specific operation of component transfer in each assembly plant, and the inputs of the component transfer wear model include transfer road condition information, transfer tool information, loading and unloading tool information, and transfer personnel information;

[0013] The output of the component transfer wear model includes wear result, wear type, and wear amount. When the component is worn, the wear result value is 1; otherwise, the wear result value is 0. The wear type includes dimensional wear and geometric wear. The wear amount includes maximum wear amount and minimum wear amount.

[0014] Preferably, the training data for the component transfer wear model is historical wear data of components during the transfer process. The wear data is a comparison between the detection data when the component enters the warehouse and the wear detection data of the component before assembly at the assembly position. The maximum and minimum wear amounts are obtained based on the historical comparison values. The component transfer wear model is optimized periodically based on the continuously updated historical component wear data.

[0015] Preferably, the tolerance analysis information includes basic product information, dimensional tolerance information, and assembly model fit relationship information;

[0016] The basic product information includes serial number, component name, size type, size value, maximum wear amount, tolerance type, upper deviation, and lower deviation.

[0017] The dimensional tolerance information includes the identifier of the assembly components, component name, tolerance value, X coordinate of the model's reference coordinate system, y coordinate of the model's reference coordinate system, and z coordinate of the model's reference coordinate system.

[0018] The assembly model mating relationship information includes the number, assembly component name, active component identifier, passive component identifier, active component mating type, and passive component mating type.

[0019] Preferably, the assembly analysis module first automatically generates a dimension chain and marks the tolerance parameters of each component loop and the closing loop in the dimension chain, and then performs assembly analysis;

[0020] The assembly analysis process is as follows:

[0021] Step 1: Obtain the tolerance parameters of each component loop and the closing loop of the generated dimensional chain, and obtain all the actual dimensions of the components entering the warehouse for each component loop;

[0022] Step 2: Select the reference component for each component ring. According to the three dimensional data of the reference component and other components, the actual size of the components upon entering the warehouse, the sum of the actual size upon entering the warehouse and the maximum wear amount, and the sum of the actual size upon entering the warehouse and the minimum wear amount, assemble each component ring and the closed ring according to the assembly sequence. Measure the error of each component ring and the closed ring. At the same time, mark the size range of the components in the next assembly sequence for each component, and the component number that meets the above size range, to form the closed ring component set.

[0023] Step 3: Compare whether the errors of the combined closed loop and each component loop are within their corresponding tolerance range. If not, remove the combination of the closed loop and each component loop, and delete the set of components of the closed loop. If yes, retain the combination of the closed loop and each component loop, and retain the set of components of the closed loop.

[0024] Step 4: Further filter closed loops according to the maximum utilization rate of existing parts, select the closed loop with the least remaining amount of existing parts, and retain the set of parts of the closed loop;

[0025] Step 5: If the actual size of an existing component does not meet the requirement of forming a complete closed loop, then provide supplementary component information.

[0026] Step 6: Select components according to the component numbers in the retained closed-loop component set, and transfer the components to the assembly location in the workshop for assembly; before assembly, perform wear detection on each component, and store the wear data in the database after associating it with the basic product information of the component, as historical data for training the component transfer wear model.

[0027] Preferably, after receiving the component information transmitted by the assembly correction module, the assembly analysis module performs the following steps:

[0028] Step 1: Locate the component ring to which the component belongs based on its part number;

[0029] Step 2: Obtain all sequences following the component of the constituent ring, and the remaining components of all assembly sequences of all constituent rings following the constituent ring;

[0030] Step 3: Based on the actual dimensions of the worn component, and the three dimensions of the remaining components (actual dimensions upon entering the warehouse, the sum of the actual dimensions upon entering the warehouse and the maximum wear amount, and the sum of the actual dimensions upon entering the warehouse and the minimum wear amount), reassemble each component ring and the closing ring according to the assembly sequence.

[0031] Step 5: Proceed according to steps 3 through 5 of the assembly analysis process;

[0032] Step 6: Evaluate the original closed loop formed by the assembly analysis and the newly formed closed loop. If the evaluation result shows that the original closed loop is better than the newly formed closed loop, the component will be removed and a component that meets the size range of this type of component will be selected. If there is no component of this type to choose from, supplementary component information will be provided.

[0033] Preferably, the feature information extracted by the assembly feature extraction module includes the engineering attribute information of the parts, the geometric information of the parts, the pose information, the assembly constraint information, and the assembly hierarchy information. The steps for extracting the assembly feature information are as follows:

[0034] S1. Load the product assembly model;

[0035] S2. Access all features in the assembly model and store them in a feature array;

[0036] S3. Obtain the type of each feature from the feature array;

[0037] S4. Determine if the feature type is a component. If the type is a component, proceed to S5; if the feature type is not a component, jump to S3.

[0038] S5. Obtain the component to which this feature type belongs;

[0039] S6. Obtain the component attribute information, mating constraint information, pose information, etc. of the component;

[0040] S7. Save the relevant information to the data;

[0041] S8. Determine if this component is a sub-assembly. If it is a part, proceed to S9; if it is a sub-assembly, jump to S2 and perform recursive operations.

[0042] S9. Determine if the feature array has been completely obtained. If it has, the algorithm stops. If it has not, jump to S3 and continue the loop operation.

[0043] The present invention has the following beneficial effects:

[0044] 1. This invention extracts assembly information from the 3D model of parts through a feature extraction module, obtains tolerance analysis information between parts, and establishes an assembly planning model based on the extracted assembly planning information through an assembly planning module, thereby obtaining the assembly sequence and assembly path, achieving optimal assembly of parts of different sizes, avoiding assembly deviation problems between remanufactured parts and original engine components, and improving assembly accuracy.

[0045] 2. This invention establishes a component transfer wear model to pre-estimate the probabilistic wear data of the assembly location points of components transferred from the warehouse to the assembly workshop. This probabilistic wear data is input into the tolerance analysis information. In the assembly analysis module, the normal wear that may occur during the component transfer process is treated as known data, thereby improving the accuracy of component assembly.

[0046] 3. This invention compares the actual wear data of the parts with the probabilistic wear data through the assembly correction module, and compares the actual size of the worn parts with the size range of the parts. If they meet the requirements, they can be assembled directly. If they do not meet the requirements, the parts are combined according to the size after wear. Therefore, compared with the prior art, the selection range of parts can be narrowed, thereby reducing the number of reassemblies and improving assembly efficiency. Furthermore, the accuracy of assembly is ensured by secondary inspection of the parts.

[0047] 4. This invention uses bidirectional feedback transmission between the assembly correction module and the assembly analysis module to recombine parts with actual wear exceeding probabilistic wear and unassembled parts. The recombination results are evaluated against the initial recombination results, and the combination with the better evaluation results is selected for continued assembly. This achieves multiple feedback recombinations, improving the utilization rate of remaining parts and reducing production costs. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 are within the scope of protection of the present invention.

[0050] Please see Figure 1 An engine assembly process optimization system, comprising:

[0051] Assembly feature extraction module: Extracts assembly information of engine parts based on the engine 3D model. The assembly information includes assembly planning information and tolerance analysis information.

[0052] Assembly planning module: An assembly planning model is established based on the assembly planning information extracted by the assembly feature extraction module. Assembly planning includes assembly sequence planning and assembly path planning. The assembly planning model uses the ant colony algorithm. The feature information extracted by the assembly feature extraction module includes the engineering attribute information, geometric information, pose information, assembly constraint information, and assembly hierarchy information of the parts. The steps for extracting assembly feature information are as follows:

[0053] S1. Load the product assembly model;

[0054] S2. Access all features in the assembly model and store them in a feature array;

[0055] S3. Obtain the type of each feature from the feature array;

[0056] S4. Determine if the feature type is a component. If the type is a component, proceed to S5; if the feature type is not a component, jump to S3.

[0057] S5. Obtain the component to which this feature type belongs;

[0058] S6. Obtain the component attribute information, mating constraint information, pose information, etc. of the component;

[0059] S7. Save the relevant information to the data;

[0060] S8. Determine if this component is a sub-assembly. If it is a part, proceed to S9; if it is a sub-assembly, jump to S2 and perform recursive operation.

[0061] S9. Determine if the feature array has been completely obtained. If it has, the algorithm stops. If it has not, jump to S3 and continue the loop operation.

[0062] Component transfer wear model establishment module: Based on the BP neural network algorithm, a wear model is established for the assembly location of each component from the warehouse to the assembly workshop to obtain probabilistic wear data during the component transfer process;

[0063] The component transfer wear model is established based on the specific operational details of component transfer at each assembly plant. The inputs to the model include transfer road conditions, transfer tools, loading / unloading tools, and personnel information. Road conditions information includes the transfer distance and road surface unevenness. Transfer tool information mainly reflects the vibration of the tools and the transfer speed. Loading / unloading tool information mainly reflects the vibration of the tools, the loading / unloading speed, and the contact vibration during loading / unloading. Personnel information mainly reflects the skill level of the personnel; more skilled personnel operate the tools more consistently, resulting in less wear on the components. The inputs are not limited to the above; inputs can be added or deleted as needed.

[0064] The output of the component transfer wear model includes wear result, wear type, and wear amount. When the component is worn, the wear result value is 1; otherwise, the wear result value is 0. Wear type includes dimensional wear and geometric wear. During calculation, geometric wear is converted into dimensional wear at the reference coordinate system position point of the component model for easier calculation. Wear amount includes maximum wear amount and minimum wear amount.

[0065] The training data for the component transfer wear model consists of historical wear data of components during the transfer process. The wear data is a comparison between the detection data when the component enters the warehouse and the wear detection data of the component before assembly at the assembly location. The maximum and minimum wear amounts are obtained based on the historical comparison values. The component transfer wear model is optimized periodically based on the continuously updated historical component wear data.

[0066] Assembly Analysis Module: Generates a dimension chain based on the tolerance analysis information extracted by the assembly feature extraction module. Combines multiple closed loops according to the dimension chain and the actual dimensions and probabilistic wear data detected when the parts are put into storage. Then, it filters the closed loops that meet the requirements and marks the size range of the parts in the closed loop and the set of parts in the closed loop.

[0067] Tolerance analysis information includes basic product information, dimensional tolerance information, and assembly model fit relationship information;

[0068] The basic product information includes the part number, part name, size type, size value, maximum wear amount, tolerance type, upper deviation, and lower deviation. The maximum and minimum wear values ​​are located between the upper and lower deviations. During the training of the part transfer wear model using selected samples, if the sum of the maximum and minimum wear values ​​in the probabilistic wear data and the actual size detected when the part is received exceeds the range of the upper and lower deviations, the sample is determined to be abnormal wear and is removed. This sample will not be used to train the part transfer wear model. Abnormal wear refers to significant wear on the part during the transfer process, such as when the part is dropped or impacted. Normal wear refers to the part being transferred smoothly, with only minor wear during normal transfer.

[0069] Dimensional tolerance information includes the identification of the assembly components, component name, tolerance value, X-coordinate of the model's datum coordinate system, y-coordinate of the model's datum coordinate system, and z-coordinate of the model's datum coordinate system;

[0070] The assembly model mating relationship information includes the number, assembly part name, active part identifier, passive part identifier, active part mating type, and passive part mating type.

[0071] The assembly analysis module first automatically generates a dimension chain and marks the tolerance parameters of each component loop and the closing loop in the dimension chain, and then performs assembly analysis; the method of automatically generating the dimension chain is existing technology and will not be described in detail in this application.

[0072] The assembly analysis process is as follows:

[0073] Step 1: Obtain the tolerance parameters of each component loop and the closing loop of the generated dimensional chain, and obtain all the actual dimensions of the components entering the warehouse for each component loop;

[0074] Step 2: Select the reference component for each component ring. According to the three dimensional data of the reference component and other components, the actual size of the reference component and other components, the sum of the actual size and the maximum wear amount, and the sum of the actual size and the minimum wear amount, assemble each component ring and the closed ring according to the assembly sequence. Measure the error of each component ring and the closed ring. At the same time, mark the size range of the components in the next assembly sequence for each component and the component number that meets the above size range to form the closed ring component set.

[0075] Step 3: Compare whether the errors of the combined closed loop and each component loop are within their corresponding tolerance range. If not, remove the combination of the closed loop and each component loop, and delete the set of components of the closed loop. If yes, retain the combination of the closed loop and each component loop, and retain the set of components of the closed loop.

[0076] Step 4: Further filter closed loops according to the maximum utilization rate of existing parts, select the closed loop with the least remaining amount of existing parts, and retain the set of parts of the closed loop;

[0077] Step 5: If the actual size of an existing component does not meet the requirement of forming a complete closed loop, then supplementary component information is fed back; the supplementary component information is fed back to the human-machine interface connected to the optimization system.

[0078] Step 6: Select components according to the component numbers in the retained closed-loop component set, and transfer the components to the assembly location in the workshop for assembly; before assembly, perform wear detection on each component, and store the wear data in the database after associating it with the basic product information of the component, as historical data for training the component transfer wear model.

[0079] Assembly workshop information acquisition module: Before assembly, the parts to be assembled are inspected to obtain actual wear data, and the wear data of the parts before assembly is input into the assembly correction module;

[0080] Assembly Correction Module: Based on the size range of each component in the Assembly Analysis Module and the actual size of the component after wear detection, it determines whether the actual size of the component after wear is within the size range of the component. If so, assembly is performed; otherwise, the actual size of the component after wear is input into the Assembly Analysis Module.

[0081] After receiving the component information transmitted by the assembly correction module, the assembly analysis module performs the following steps:

[0082] Step 1: Locate the component ring to which the component belongs based on its part number;

[0083] Step 2: Obtain all sequences following the component of the constituent ring, and the remaining components of all assembly sequences of all constituent rings following the constituent ring;

[0084] Step 3: Based on the actual dimensions of the worn component, and the three dimensions of the remaining components (actual dimensions upon entry into the warehouse, the sum of actual dimensions and maximum wear, and the sum of actual dimensions and minimum wear), reassemble each component and the closing loop according to the assembly sequence. This means recombining the remaining components according to the assembly sequence following the component and according to the entire assembly sequence, to meet the tolerance requirements of each component and the closing loop in the dimensional chain.

[0085] Step 5: Proceed according to steps 3 through 5 of the assembly analysis process;

[0086] Step 6: Evaluate the original closed loop formed by the assembly analysis and the newly formed closed loop as described above. If the evaluation result shows that the original closed loop is better than the newly formed closed loop, the component will be removed and a component that meets the size range of this type of component will be selected. If there is no component of this type to choose from, supplementary component information will be provided.

[0087] The evaluation can be conducted according to the conditions in step four of the assembly analysis process, or according to a custom evaluation index.

Claims

1. An engine assembly process optimization system, characterized in that, include: Assembly feature extraction module: Extracts assembly information of engine components based on the three-dimensional model of the engine. The assembly information includes assembly planning information and tolerance analysis information. Assembly planning module: An assembly planning model is established based on the assembly planning information extracted by the assembly feature extraction module; the assembly planning includes assembly sequence planning and assembly path planning; Component Transfer Wear Model Establishment Module: Establish a wear model for the assembly location of each component from the warehouse to the assembly workshop, and obtain probabilistic wear data during the component transfer process; Assembly Analysis Module: Generates a dimension chain based on the tolerance analysis information extracted by the assembly feature extraction module. Combines multiple closed loops according to the dimension chain and the actual dimensions and probabilistic wear data detected when the parts are put into storage. Then, it filters the closed loops that meet the requirements and marks the size range of the parts in the closed loop and the set of parts in the closed loop. Assembly workshop information collection module: Before assembly, the parts to be assembled are inspected to obtain actual wear data, and the wear data of the parts before assembly is input into the assembly correction module. Assembly Correction Module: Based on the size range of each component in the assembly analysis module and the actual size of the component after wear, it determines whether the actual size of the component after wear is within the size range of the component. If so, it performs assembly; otherwise, it inputs the actual size of the component after wear into the assembly analysis module. The assembly analysis module first automatically generates a dimension chain and marks the tolerance parameters of each component loop and the closing loop in the dimension chain, and then performs assembly analysis. The assembly analysis process is as follows: Step 1: Obtain the tolerance parameters of each component loop and the closing loop of the generated dimensional chain, and obtain all the actual dimensions of the components entering the warehouse for each component loop; Step 2: Select the reference component for each component ring. According to the three dimensional data of the reference component and other components, the actual size of the components upon entering the warehouse, the sum of the actual size upon entering the warehouse and the maximum wear amount, and the sum of the actual size upon entering the warehouse and the minimum wear amount, assemble each component ring and the closed ring according to the assembly sequence. Measure the error of each component ring and the closed ring. At the same time, mark the size range of the components in the next assembly sequence for each component, and the component number that meets the above size range, to form the closed ring component set. Step 3: Compare whether the errors of the combined closed loop and each component loop are within their corresponding tolerance range. If not, remove the combination of the closed loop and each component loop, and delete the set of components of the closed loop. If yes, retain the combination of the closed loop and each component loop, and retain the set of components of the closed loop. Step 4: Further filter closed loops according to the maximum utilization rate of existing parts, select the closed loop with the least remaining amount of existing parts, and retain the set of parts of the closed loop; Step 5: If the actual size of an existing component does not meet the requirement of forming a complete closed loop, then provide supplementary component information. Step 6: Select components according to the component numbers in the retained closed-loop component set, and transfer the components to the assembly location in the workshop for assembly; before assembly, perform wear detection on each component, and store the wear data in the database after associating it with the basic product information of the component, as historical data for training the component transfer wear model; After receiving the component information transmitted by the assembly correction module, the assembly analysis module performs the following steps: Step 1: Locate the component ring to which the component belongs based on its part number; Step 2: Obtain all sequences following the component of the constituent ring, and the remaining components of all assembly sequences of all constituent rings following the constituent ring; Step 3: Based on the actual size of the worn part, and the three dimensions of the remaining parts (actual size upon entering the warehouse, the sum of the actual size upon entering the warehouse and the maximum wear amount, and the sum of the actual size upon entering the warehouse and the minimum wear amount), assemble and reassemble each component ring and the closing ring according to the assembly sequence. Step 4: Proceed according to steps three through five of the assembly analysis process; Step 5: Evaluate the original closed loop formed by the assembly analysis and the newly formed closed loop. If the evaluation result shows that the original closed loop is better than the newly formed closed loop, the component will be removed and a component that meets the size range of this type of component will be selected. If there is no component of this type to choose from, supplementary component information will be provided.

2. The engine assembly process optimization system according to claim 1, characterized in that: The component transfer wear model is established based on the specific operation of component transfer in each assembly plant. The inputs of the component transfer wear model include transfer road condition information, transfer tool information, loading and unloading tool information, and transfer personnel information. The output of the component transfer wear model includes wear result, wear type, and wear amount. When the component is worn, the wear result value is 1; otherwise, the wear result value is 0. The wear type includes dimensional wear and geometric wear. The wear amount includes maximum wear amount and minimum wear amount.

3. The engine assembly process optimization system according to claim 2, characterized in that: The training data for the component transfer wear model is historical wear data of components during the transfer process. The wear data is a comparison between the detection data when the component enters the warehouse and the wear detection data of the component before assembly at the assembly position. The maximum and minimum wear amounts are obtained based on the historical comparison values. The component transfer wear model is optimized periodically based on the continuously updated historical component wear data.

4. The engine assembly process optimization system according to claim 1, characterized in that: The tolerance analysis information includes basic product information, dimensional tolerance information, and assembly model fit relationship information; The basic product information includes serial number, component name, size type, size value, maximum wear amount, tolerance type, upper deviation, and lower deviation. The dimensional tolerance information includes the identifier of the assembly components, component name, tolerance value, X coordinate of the model's reference coordinate system, y coordinate of the model's reference coordinate system, and z coordinate of the model's reference coordinate system. The assembly model mating relationship information includes the number, assembly component name, active component identifier, passive component identifier, active component mating type, and passive component mating type.

5. The engine assembly process optimization system according to claim 1, characterized in that: The feature information extracted by the assembly feature extraction module includes the engineering attribute information, geometric information, pose information, assembly constraint information, and assembly hierarchy information of the parts. The steps for extracting the assembly feature information are as follows: S1. Load the product assembly model; S2. Access all features in the assembly model and store them in a feature array; S3. Obtain the type of each feature from the feature array; S4. Determine if the feature type is a component. If the type is a component, proceed to S5; if the feature type is not a component, jump to S3. S5. Obtain the component to which this feature type belongs; S6. Obtain the component attribute information, mating constraint information, pose information, etc. of the component; S7. Save the relevant information to the data; S8. Determine if this component is a sub-assembly. If it is a part, proceed to S9. If it is a subassembly, then jump to S2 and perform recursive operations; S9. Determine if the feature array has been completely obtained. If it has, the algorithm stops. If the operation is not completed, jump to S3 and continue the loop.

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